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There's no danger replacing the fluid with only 86K on the truck and do not put the old fluid back in. At a minimum drop the pan, clean the pan, change the filter, reinstall the pan and top off the fluid. For this you'll need one filter, don't worry about the gasket its reusable, and 4-5 quarts of Mercon V fluid. This is a basic transmission service that will do no harm and will freshen the fluid (you're only changing about 1/3 of it) and get a new filter in the unit. If you can drain the torque converter you'll get nearly all the old fluid out, except what's in the transmission lines. If you drain the TC go ahead and buy a case (12 quarts) of Mercon V. Finally, you could take it somewhere and have a fluid exchange done. This is where they allow the transmission's pump to push out the old fluid and replace it with new fluid, this replaces all the old stuff. Even with a fluid exchange I would still recommend having the old filter replaced. This type of service is usually around $200.
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