Use the DOT 4. Here's why:
DOT 3, 4, and 5.1 are all glycol-based fluids and are mutually compatible. DOT 4 has a higher boiling point than DOT 3, which is fine—it won't hurt your system and may even be beneficial under heavy use. Mixing them is acceptable in a pinch, though a full flush with DOT 4 is ideal.
Do NOT use DOT 5. It's silicone-based, not glycol-based. Mixing DOT 5 with DOT 3/4 creates a gel-like substance that can clog your entire brake system—calipers, lines, ABS module. That’s a costly and dangerous mess. DOT 5 is also not recommended for ABS-equipped vehicles like your 2015 F-150, as it doesn’t handle the rapid pulsing of ABS as well.
Bottom line:
- ✅ DOT 4 = Safe, compatible, slightly better performance.
- ❌ DOT 5 = Incompatible, damaging if mixed, not ideal for ABS.
Proceed with DOT 4 and complete the flush properly. If you frequently work on brakes, consider stocking DOT 3 or 4 going forward.