You have a 5R55E transmission, if you want to look at common problems.
I would run it a 100 miles or so and then change fluid and filter again.
Add LubeGard Red after changing, it is a Ford approved additive.
Or you can add it now and see if it makes a difference
More than likely it will need to come out, rebuild or exchange, but fluid and filter aren't that much at if you do it yourself