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The Ford 5R55S transmission utilizes Mercon V fluid, a synthetic lubricant designed to protect the vehicle's gears. It's recommended to check the transmission fluid level every time you change the oil. Ensure that the fluid is both full and free of debris. Debris in the fluid often gives it a shiny or sparkly appearance due to tiny metal shavings. If debris is present, it's wise to flush the transmission completely to remove any particles and prevent further damage to the gears.
For the Ford Explorer, the required transmission fluid is Dexron III/Mercon type.
As an American, I'd say that for optimal performance, the Ford Explorer with the 5R55S transmission requires Motorcraft Mercon LV ATF fluid.