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Sucking it out of the dipstick tube would be the safest bet. Dropping the pan, and refilling would be the next option. Clean the pan, and use a clean catch can so you can reuse the fluid. I personally wouldn't crack a cooler line with the motor running. Nothing like hot hydraulic fluid in your face.
its not that hot to worry about.wont be hot at all if you don't drive it first.
^^ remove the line and stick it or a hose to extend it into a catch pan. Start the truck and let it pump out some of the fluid. That's how I replace the p/s fluid. It won't hurt anything. It's not like your going to pump all the fluid out and run it dry.
Un-do the rubber splice line on the return steel line from the cooler (end closest to trans). its not near high pressure at idle & have a measureing cup or something ready with someone on the key to shut down.
Keep in mind transmission dipsticks don't usually read in "Quarts" like engine dipsticks. Usually the difference between add and full on the stick is 1/2 qt or so.
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