Discs can slip (and get worn) when not enough pressure is delivered by the oil pump to allow correct functionality. Oil pressure can drop because of various restrictions in the hydraulic circuit, build up of varnishes for example. Changing oil per manufacturer recommendations eliminates that.
I have now 5 vehicles in my household that I maintain and 3 of them are almost 20 years old, with about 200k miles. Two are Ford, one Hyundai. Because I change the transmission fluid at about 40k miles they are still shifting perfectly. I know lots of people that sent their Taurus at junkyard, without having once do a transmission fluid replacement, and they didn't make it past 100-120k miles of heavy city traffic. They blame the manufacturer when is their fault of not maintaining the car.
Even manufacturers recognize that there are different regimes that cars are used in.
A car that is used mainly on highway, sitting mainly in the top transmission gear, will have the fluid last "lifetime".
A car that is used mainly in stop and go traffic (city/urban environment), at high ambient temperatures (Southern US), constantly shifting gears, will require more often fluid changes.
Traffic only got worse in the last decade. Summers seem to get hotter. I am curious what will be the live expectancy of newer cars with the mentality that "transmission fluid is lifetime".
My old F150 with the V6 and 4R70W started slipping at around 120k miles despite me being very good about changing out the tranny fluid.
I have a 2001 Ford Explorer with the V8 5.0L engine and the same 4R70W transmission. I do drain/refills at about 40-50K miles (added a pan with a drain bolt) and my transmission is fine at 190k miles. What is different from your V6 is that my Explorer came with "Towing Package" that includes an auxiliary transmission cooler. It also has an engine oil heat exchanger. I never towed anything, transmission temperatures are seldom past 175F (OBDII reader) - only when I am stuck in traffic in days that are 98F or higher. No air flow over the aux cooler when stopped.
I had also experienced transmission temperatures up to 220-225F in my Mercury Sable in the same conditions (very slow traffic, hot days). That was happening when I was trying to save gas by not using the A/C (open windows). Big mistake! Once I started the A/C, it automatically kicked in the fans, and transmission temperature dropped at about 190F. That car has about 200k miles now, same oil change regime (I have added a pan with drain plug on that too), use A/C in summer, even if is at the lowest fan speed.