Ford probably considers them "lifetime" fluids which means it will last longer than your powertrain warranty.
Due to the small volume used and heat generated, your transfer case has the shortest interval, some suggest around 30K mi. Differential, would depend on how severe duty it sees, both hauling loads and the ambient temperatures. 50K would be a conservative measure, 75K pretty middle-of the road, and 100K pushing it, then every 50K from that point forward.
Since you're already at 53K and it's on your mind, I'd go ahead and change it, yourself, or at a shop that lets you see the condition of the fluid coming out so you know how bad it was, and can use this as a gauge for how long to wait till the next fluid change if all else is equal for the vehicle use.
Granted, if you're going to use an aftermarket fluid, it may have a different lifespan than the motorcraft. You might ask about something like that at https://bobistheoilguy.com/forums/
or at least research it as someone else has probably asked and answered that topic.