1996 ford ranger auto trans fluid high milage or leave it alone?

If the fluid is nice and pink I wouldn't worry , If it smells burnt then drop the pan and do the change or send a hose down the fill tube and vacuum out the old , . even if you drop the pan you never get all the fluid , You can remove the top tranny cooler line from the radiator and put a hose on the end , start it up and see what kind of pressure you get blasting out of there , then you'll know if the filter is clogged . Tie it down because it'll be a good amount of pressure

Nope, leave it alone! This is one of those things that "If it works, don't fix it!" Applies! Jim