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transmission fluid on 2001 BMW 540i

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I have a 2001 BMW 540i. transmission failsafe program, keeps coming on on my dashboard. I have looked for a place to check the transmission fluid and cant find it. Does anyone know where I can find this at?
(1) Answer
It is an allen key bolt on the side of the trans, suggest having a professional check, considering you cant even find the inspection hole.