Should I at least change the filter on 100k+ tranny? Ford Explorer.

Hey guys so i bought a 2004 Ford Explorer and it currently has 134k miles on it. I have been giving it its TLC since i have gotten it and now its time for the tranny fluid/filter change. I called several places and they all told me the samething, if i decide to change the fluid it has a chance of messing up the transmission. Problem is i don't really know if the person who had the car before me ever changed it or not, bought the car from a used dealer. So far there has been some hesitation when reaching 30 mph if i am driving slow but if i do a quick take off i won't even notice the hesitation when its changing gears at around the 30mph. Also sometimes when i am on park and change it to reverse it takes about 2-3 seconds before it changes as well as going to drive, It happens very seldom. My question is, is there an alternative route i can go to sorta clean the tranny fluid or filter? Can i just at least change the filter but keep the same fluid? Thank you!
(By hesitation around the 30mph i mean that it will start to slow down then change gears, almost if like you are driving a manual and shift from a higher gear to a lower gear)
Also i went to Autozone 2 weeks ago to check what the service light was for and the code was for a sensor but i can't remember the code, not sure if a sensor will have anything to do with it or not.
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