Yes. I would clean out the pan at 1-5k then again at 10k, 30k or annually. Once the system is clean an stable then it should be safe to follow the OE Severe Duty maintenance schedule.Little bit to unpack here.
If you wait until Ford says, which is 150k miles, then yea, the fluid is going to be trashed.
If you do something reasonable, like 30k changes, then the fluid comes out fine.
Ford is completely out to lunch with that fluid recommendation, and all of the '10X' transmissions have issues with the valve bodies, so people are best served by early and frequent changes.