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You find the drain plug attached to the fluid sump which is on the bottom of the transmission. Do not get it confused with the oil sump which is farther foward. Once you've found the drain plug use a 14mm socket or wrench to remove it and allow the fluid to drain into a pan. You should only get about 4 quarts out of the sump - another 10 quarts is trapped in the torque converter.

If the fluid is clean and smells ok (should be a deep cherry red color free of emulsions and not smell burnt) then use a thin funnel to replace all 4 qts through the transmission dipstick. If the fluid has contaminants or smells bad, replace the fluid and consider going to a shop to get a full system flush and possibly a filter change. (The Tacoma's rarely need a filter change for the transmission, however.)

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15y ago
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Q: How do i change the transmission fluid in a 2002 Toyota tacoma?
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