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On my 2002 Grand Cherokee the transmission dipstick is on the left side of the engine (facing the engine) near the firewall. The front differential has a 3/8 socket plug. The rear differential has a rubber plug that can be popped out with a screwdriver. The center differential has a 10mm Allen plug. For each differential the fluid should be just below the plug opening.

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Q: How do you check the transmission oil on a 2001 jeep Cherokee?
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