If it is a darker color, not red, just change it. Better to be safe than sorry. You can supposedly smell
bad ATF as well, but the best way is to just look at it. You don't want to take a chance with an Explorer tranny, kinda flaky to begin with, so change it to be safe. Also would recommend a tranny shop doing it as well, if you just drop the fluid yourself, you will not get about %70 of it. You need to flush the old fluid out and run the new stuff in. (they hook up to the lines, so as to replace all of it).