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TRANSMISSION FLUID CHANGE on 2002 Ford Explorer

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WHAT IS THE CORRECT SCHEDULE FOR THE TRANSMISSION TO GET A CHANGE OF FLUID??? IS THEIR A FILTER TO BE REPLACE AND WHAT IS THE AVERAGE COST FOR THE JOB.
(3) Answers
30,000 miles for severe duty; 100,000 miles for normal service. Lean towards severe. Have a fluid exchange service (flush) done to have the most productive fluid service.
The owners manual will give you the intervals for trans service, make sure to follow the correct schedule for how you drive the vehicle. Yes there is a filter inside the trans pan. Check the estimator link on repairpal for estimate.
ford saids change the fluid and filter on the 5 speed at 150k, realistically it should be done every 30 to 40 k