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I have my transmission flushed every 30,000 miles. It may be overkill but I tow 10,000 lbs about 8000 miles a year and figure it can't hurt. To my surprise the Trans Tech after checking the fluid color or whatever said I did not need to change it. I had it changed it anyway but you have to give the guy credit, said he did not want to take my money... They use a T Tech Pro machine for the flush.
I purchase my early 99 with 22k miles in 2005. It now has a little over 210000. I have never dropped the transmission pan but give credit to the trans longevity to adding the 31 row 6.0 Trans cooler at around 55k. My trans temp never gets more than 60 degrees above outside air temperature no matter what or how I am towing. So, knock on wood!
I consider 10000# normal duty, but I also exchange fluid @ 30k.
I recommend normal duty exchange at 60k, towing @ 30k.
'Smell test' or judging condition visually is tough. I feel that if a fluid is contaminated it has been neglected and damage has been done. Dirty or burnt fluid is a result of negligence, and contaminates from failed parts or fluid.
I prefer to replace fluid when it is still good and doing it's job. Good fluid out, good fluid in. No damage, everything lasts longer.
Keeping the fluid clean and cool seems to go a pretty long way in keeping a trans happy. With the miles it has it would probably be a good idea to replace the filter next time you flush it.
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