The way I do it (I own a 4 cyl version) is I just remove the gear shift from inside the Jeep. Take note however, make sure the top of the transmission is relatively clean when attempting this method. You wouldn't want debris falling into the trans while filling it up!
Rough directions for taking apart gear shifter: remove 2 screws that hold down the plastic cover, wiggle the cover off (take note, rubber boot will stay on cover, so you must work it off of the gear shift), underneath and at each corner of the coverplate the shifter goes thru are 4 screws (metric). CAREFULLY unscrew and remove these AFTER you've cleaned off the immediate area of sand/loose debris. once removed, gently pull on the gear shift (make sure its not in gear, use appropriate measures to keep from rolling down driveway), and remove it from the trans. once that's done, just pour in ur 90w (or whatever you use, i use 90w due to the heat it produces while climbing up 50+ degree inclines) to the specified amount and reverse procedure.
There is a fill tube on the outside of the trans, however if your jeep isn't lifted in any way, this method requires a vehicle lift, lots of spilling, and headaches.
A 1997 Jeep Wrangler TJ manual transmission engine can be filled with 6 quarts of fluid. Its cooling system, on the other hand, can be filled with 11 quarts fluid.
75w90
Dot 3
Pennzoil Synchromesh Manual Transmission Fluid
I recommend syncromesh
75w90
80w90
Synchromesh is the best I have tried
Mopar ATF+4
The same time as the brake fluid.
Automatics all use ATF+4. The manual in the wrangler uses a special manual transmission fluid from the dealer.
A 1997 Jeep Wrangler uses green coolant.