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get the car on a lift. remove the air box, battery, intake hoses.

use a cross-beam to hang the engine. usually a chain around the intake manifold, and a chain to the rightmost stud on the exhaust manifold.

drain the atf, disconnect the engine mounts from the subframe. 3 14mm bolts in front, 4 nuts 14mm in rear, 2 14mm bolts on damper (mini shock), 2 14mm nuts left side. disconnect the hoses from the hard lines on the transaxle.

remove the exhaust pipe under the car. remove the torque converter access plate (2 10mm bolts) disconnect the flex plate from the torque converter (6 14mm bolts). disconnect the shift linkage (12mm nut, 1 clip) don't lose the clip!

on top of the transaxle, remove 5 17mm bolts from the bell housing. remove the starter 2 14mm bolts. pull the shift cable up out of the way, unstrap the O2 sensor wire from the dipstick. disconnect electrical connections and remove 2 14mm bolts holding wire loom, and a 12mm bolt ground wire.

leaving one 17mm nut on each ball joint hand tight, remove all the subframe bolts 4 22mm, 4 14mm bolts, 4-6 14mm nuts. letting the subframe hang from the ball joints, remove the sway bar holder (4 12mm bolts) remove 2 19mm bolts from steering rack. remove 2 12mm bolts holding Power Steering line to subframe (right side)

remove the 2 nuts from the ball joints and put the subframe aside.

support the transaxle on a transjack and strap it down. remove 4 14mm bolts from right axle mount (on engine block) remove 3 14mm bolts on bottom of bell housing. use a small pry bar, push the transmission away from the engine block and this will loosen up the axle mount remove the axle from the transaxle (don't attempt to remove the mount) drop the transaxle.

reassembly is the reverse of removal.

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Q: Transmission removal on a 1993 Lexus es300?
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