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at your mileage a drain and fill is fine knowing you get around 50% of the fluid but if you are going to do it every 30,000 your tranny will outlive the car. However, if still under warranty you may wish to wait until the recommended manual change or have the dealer do it. Having a problem between now and the end of the warranty will be tough if you change the fluid yourself IMO, especially with a non OEM fluid.
I forgot to include this in my earlier post. I agree exactly with it.

if you do it yourself, double check the fluid type and keep all receipts so you can prove you did it with the right fluid. :D
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