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HERE is a method that was written for the bigger trucks. It would have to be modified a bit for your since you don't have a dipstick.
To fill the trans you need to remove the drain plug from the pan. Remove the inner plug that has an Allen hex, not the external hex. You will need a pump of some sort to pump the fluid in through this opening.
The easier way is to go to a place that has a fluid exchange machine. Many dealers and quick lube places have them.