I switched everything but the engine to Synthetic at about 100k. I went to full synthetic in the engine at ~180k miles. I have had zero issues, I'm at 220k now.
Full synthetic will not damage old seals. It does flow better and does keep and engine cleaner so some people have leaks when they go to a full synthetic because it cleans the gunk off the seals and flows thru worn seals.
Change to synthetic and see what happens. If you start seeing more leaks then switch back. If you have kept up on oil changes then you probably don't have much gunk in your engine now.
When I went to synthetic in the trans, transfer and diffs I noticed an increase in gas mileage.
I went to synthetic engine oil so I could stretch oil change intervals.
Note: If you automatic transmission has a conventional oil in it I would stick to that unless you do a full trans flush. The 5 quart drain and fill would give you a 50/50 mix.