Going early certainly will not hurt. A few items concerning your transmission.
1. You have a TorqShift 5R110W electronically controlled 5 speed transmission. There are actually 6 forward speeds but it will normally skip 4th gear. For some reason that's how Ford programmed it. The gear ratio difference between 4th and 5th is only .09 which is kind of strange also. 6th is overdrive at .71 to 1
2. For RV applications scheduled change interval is 30,000 miles (listed under exceptions in the back of the scheduled maintenance guide).
3. Liquid capacity is 19 quarts unless the house builder or owners modified the external cooler.
4. Use of Motorcraft Mercon SP XT-6-QSP oil is highly recommended. Substitute at your own risk.
5. There is no torque converter drain. As such the only way to drain it is removal.
6. There are two filters with the F53 configuration. Internal to the transmission and a external mounted on the passenger side frame in the line to the cooler.
7. The transmission has a thermostat just like the engine cooling system. The thermostat opens around 160 degrees so if you decide on a flush it must be a HOT flush.
I do a driveway drain and fill. Of the 19 quart capacity I have only been able to get 12 out using compressed air to blow out the cooler. Considering the 7 quarts I could not remove is mixing with the new I reduced the interval to 20K miles. I also send a sample out for analysis of potential problems. So far at 56K miles all is good.
The most difficult part of a drain & fill is pouring 12 quarts of oil down the small dip stick pipe. One of these days I'll get a pump.