I trusted the Ford maintenance schedule on our Transit van and was waiting until 100,000 miles for a dealer flush and fill. The torque converter started shuddering at 75,000 miles. I didn't know what it was until about 100,000 miles when it got so bad that I had to investigate.
Took it to the dealer and they told me I needed a new transmission. Did my research that suggested that transmission additives or a flush/fill would remedy the situation. I returned to the dealer and hounded them until they did a fluid flush/fill (which they said would do nothing). It took about 500 miles but the shudder went away completely. That was 15,000 miles ago. I'm about to drop the pan, change the filter and add a weld-in bung to begin doing my own "drain & fills" at 20,000 miles intervals.