Les sigh. Master tech.
Changing fluid on a good transmission does no harm at all.
Changing fluid on a completely worn out transmission will cause it to slip and fail. Clutches in your transmission have thick amounts of friction material. When that material wears off, it floats around in the fluid. Worn out clutches may still grab ok, if there is enough friction material IN the fluid. As soon as you dump the old ATF the trans fails and starts slipping because there is no longer any friction material left. This fluid should look burnt.
Change your diff lube, xfer case lube, oil, atf, trans filter. Test your coolant, any question about it, have it flushed out. Upgrade your rear diff cover to a proper armored unit, like from Motobilt. Use a turkey baster to remove your brake fluid, replace, and bleed the brakes well.
On another note: If the truck runs well, and shifts well. It is no big deal at all if the trans fails after replacing the ATF. Just have it rebuilt. It's a simple task, not heart surgery like everyone thinks. I'd rather rebuild your trans than change your timing chain. Perfectly good transmissions need clutches and pressure plates replaced due to wear, every day. I really shake my head when a perfectly good truck gets scrapped or traded in, due to minor trans issues.