Change it. Your truck will thank you. I picked up a used 2016 Laramie with 142k. No records of transmission fluid change on carfax so it was first on the diy list. I read similar info as you about the dangers of changing fluid at high mileage but felt the benefits of new fluid out weigh the removal of suspended "friction particles". Using the ZF procedure you are only removing about half of the fluid so you still have 1/2 of the suspended particles remaining, right? My truck also had a hard downshift from second to first gear. After draining 5 quarts of fluid, replacing pan, following ZF procedure, adding 5 quarts MaxLife until trickle, buttoned it up and no more hard down shifts. Tranny shifting great for past 3k miles. It was somewhat comforting knowing the amount of fluid added until full was the same amount drained.
Edit: Fluid and pan had a ton of fine metal particles floating around. Magnets were maxed out with fine metal particles.