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Jaguar and JATCO do not recommend a fluid replacement for maintenance. If the transmission seems to be shifting good any there are no indications of a problem I would not replace the fluid. There is an external cooler behind the lower bumper so you should not have to worry about overheating it when you tow. If you were to replace the fluid there is a drain plug, fill plug and fluid level check plug. Since there is no dipstick this does make things more difficult but a qualified shop can do this for you. The fluid is costly and I only recommend the Jag fluid. I have seen issues on the 2002-2003 transmissions at higher mileage.
19,890 satisfied customers
Ellen
Licensed mechanics