Q: change transmission fluid on 2002 Ford Explorer

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how do you drain the transmission fluid from transmission
(1) Answer
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There is a drain plug in the center of the transmission oil pan and some Explorer transmission have an additional drain plug to allow oil to be drained out of the torque converter. I would drain the oil, remove the transmission oil pan while I was there and change the transmission filter. Ford call for Mercron 5 fluid to refill. Autozone have some popular workshop manuals for free on line once you register (for free) on their website .There is a company that independent auto repair shops "buy" their information from that offer a very reasonable service to do it yourselvers. You get a one year subscription to year make and model specific repair procedures, service bulletins, component locations, wiring diagrams ect.... great quality information same as the professionals have ,much better than generic workshop manuals from parts stores, much cheaper than the factory manual. or try and get an online repair manual subscription.
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