I would leave good enough alone
It's a durable transmission, and failures are rare. Failures without prior symptoms are even more rare.
The one achilles is the "swap-shift" strategy where the timing of the 3rd gear disengagement to 4th gear engagement has to be precise, otherwise some parts try to move in opposite directions at the same time. If this shift becomes harsh or delayed, it's either time for new fluid, or your battery voltage is out-of-spec.
Just like the FICM, trying to limp along with a bad alternator can cause bad things to happen in the transmission, because some much is dependent on expected voltage. Likewise, if the the battery is out long enough to reset the PCM, drive gently for the first 10 miles, while it relearns the shift strategy (there's a way to perform an "Engagement Schedule" relearn in the shop... but fluid has to be at 135F so it's easier to just drive it).
I use to worry about my 4R100 too. Probably around 150k I started wondering if I should also change mine out preventatively. I even got quotes for remans. But I never had any adverse symptoms, other than a couple times it puked up fluid because I got it way too hot. But it always drove fine once it cooled down.
Still drives like new at 510,000 miles on the factory 4R100! Well over half of that has been towing heavy, with a typical combined weight of 22k.