Drain and fill in the '02 F150.
I installed a drain plug when I did the first drain and filter change @ 163,xxx miles. Did another drain 500 miles later, then 1000 miles after that, then 5000 more miles, that put me at 170,000 miles, and I now do it every 10,000 miles.
Hit 200,000 miles today so it was time again.
Fluid that came out looked nice and pink, no burnt smell to it.
Filled it with some more Valvoline Maxlife ATF.