I'd drain it. If it is over filled and starts frothing, kiss your engine goodbye. For $5, it is a couple thousand dollar insurance policy.
I put more than a half quart in my Honda Accord and it worked just fine. No need to worry.
Can't choose a best answer because they all are good .
2005 Freestar. Thought it took almost 6 qts like my Duratec in my othrr Ford. Maybe half quart over and couple hundred miles from home on vacation. Should I buy a 15mm box wrench for a few bucks and drain it off, or is it not a big deal.