Unfortunately this is a very common problem with automatics in Fords. I've personally seen it in my brother's Explorer and wife's Excursion. Your transmission is fine, it just needs a new input seal. It's one of those jobs with a $12 part that takes you 12 hours to replace, that's what it took me anyway when I did the Excursion. 2WD makes it easier, pull the transmission and then the torque converter and swap out the seal. An ATV jack is handy for this job.