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Thanks to both of you for your responses. Did you change the filter as well?
Also, I e-mailed ZF and this is their response:
"ZF automatic transmissions are generally filled with lifetime oil. However, due to the many factors influencing the service life of transmissions in individual operation, ZF recommends an oil change after 150,000 km (93K miles) for its transmissions. In operating conditions with high temperatures and loads, or with unknown vehicle use in the past, it can make sense to change the transmission oil at shorter intervals."
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