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You need to be able to monitor one of the temperature sensors in the transmission to determine when the proper level is reached. This usually requires the CONSULT computer that dealer's have. See FSM for details. Other than that, no special tools are required. I vaguely remember a DIY that didn't require monitoring the sensor but I can't seem to find it.
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I disagree, Any basic scanner can give you trans temp. Gynesis, versus etc.. You don't need a CONSULT by any means.
The scanner is used to make sure the fluid is warm, and has expanded.
Once the operating temp is reached, the bolt can be removed.