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I've change my fluid twice, once just a single drain, the second doing the full three drains. YouTube videos are a really good reference, in my experience, they tend to leave out the messy parts, I'd advise you to be ready for fluid spillage. My second time around wasn't as bad as my first, but it was nonetheless still a bit messy. Also changed my pan to one with a drain plug, got it from Amazon, so much easier getting the old fluid out.
Brake torque is what we called power braking years ago, except then we did it then to do burn outs. It does work to bring the fluid temperature up, After going through all the gears with the short pause in between each gear a couple times, keeping your foot on the brake, put it in D, and give it enough gas to rev the motor above idle, but keep it under 800 RPM. Even doing that, mine took ~20 minutes to get it to the temp I needed. I personally would not brake torque with the car in the air, I had the advantage of a lift, after getting the fluid in, I brought it to the ground and backed off the lift, went through the fluid heating process until I was a few degrees above the minimum, put it back on the lift, raised it with the motor running, went through the fluid drain/check procedure with the check plug. When the fluid got to a drip, I closed it up, brought it to the ground, cleaned up my mess.
I use the fluid fill plug on the side of the transmission to get the new fluid in (and initially the old fluid out), I tried once using the check plug with the appropriate adapter to get new fluid in, didn't work out well for me (made a mess). The fill plug isn't so bad after you get the hang of working in a tight area, after cleaning around the plug and taking it out, I looped the drain/fill tubes above the hole and got the tube tip inserted coming down into the hole from above. It's actually not difficult, though can be a bit time consuming the first time.
These were the first, second, and only times I've done my own transmission fluid service, glad I did, I learned new stuff, and save lots of money. Both times I also changed the oil and filter, and changed the diff fluid.
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