How do you change the transmission fluid on a '94 Jeep Grand Cherokee with 147K miles on it?

Since it is so high mileage I think I would just pull the pan and change the 4-6 quarts that are in the pan and replace the filter. If you go to a place that flushes transmissions, I have known that with the new fluid the lining comes off of the fiber plates.

. use atf+4 from Chrysler dealer or it destroys the clutches.