ATF's are quite complicated products that especially differ in frictional characteristics, low temperature viscosity and oxidation stability. over the years we have seen considerable improvements both in cold weather operability, drain intervals and wear protection.
most modern varieties (Mercon, Dexron and the special products approved or various Aisin and ZF transmissions mounted on various makes of vehicle)) can be mixed - without immediate damage as a result. In the long term it however may have an adverse effect on shift quality and may also lead to higher wear.
the general rule therefore is to stick to the original recommendation.
for older Ford and Borg-Warner transmissions that required a Ford type F fluid (i am talking about the pre-Mercon era now), mixing up the Ford and GM-type like fluids should be avoided at all times, since severe shift problems will arise quickly and a lot of damage to frictional elements can be the result.
Since the nineties frictional characteristics are more alike between the various transmission builders, so adding a quart of the "wrong" oil to a low oil level transmission is not that critical anymore, read: does not cause immediate damage.
The various products on the market now differ more in oxidation stability (oil change interval) and to some extend in anti-wear quality.
some useul info can be found here: