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I flushed the transmission fluid on my girlfriends '02 Escape (V6 automatic transmission) last weekend and decided I would document the procedure I used here. This is the first time I've ever worked on an Escape but the procedure to flush the transmission is the same as on pretty much any car:

Tools required: pliers, 10mm socket, milk jug, transmission fluid funnel
Parts required: 1 case of MERCON transmission fluid
Optional: get a new 1/2" screw-down hose clamp to replace the cheap factory hose clamp.

1. Drive car up on ramps.
2. Remove the drivers-side black plastic underbelly pan (held on with several 10mm bolts). This exposes the 2 hoses running to the transmission from the transmission cooler.

There are 2 black rubber hoses running from the external transmission cooler in the front of the car. Each one attaches to a metal tube that attaches to fittings on the transmission. The tube attached to the front of the transmission is the outlet (i.e. fluid is discharged from the transmission here). The fitting in the rear of the transmission (and also closest to the front wheel) is the inlet (i.e. fluid enters the transmission here). To flush the transmission and the external cooler, you need to disconnect the rubber hose from the metal pipe that connects to the rear of the transmission (the inlet).

3. Identify the transmission inlet hose, and remove the hose clamp with pliers. Pull the rubber hose off of the metal pipe. Some fluid may come out, but there won't be much.

The idea of a transmission fluid flush is to use the transmission's own pump to pump out old fluid, and then replace it with new fluid. I used a 1-gallon milk jug to collect the old fluid, and a helper to start and stop the car's engine on my command.

4. Position milk jug under disconnected inlet hose, and have helper start engine. Fluid will pour out of the inlet hose into the milk jug. Stop the engine when approx 2 quarts have come out (the milk jug is 1/2 full). This will take 15-20 seconds or so.

5. Add 2 quarts of new transmission fluid into the dipstick tube.

Repeat steps 4 and 5 until the transmission fluid coming out is the same color as the new fluid. For me, it took a full case (12 quarts) of fluid. At least one time during step 4, have the helper shift the transmission into R and D while the engine is running. When all fluid has been replaced, reconnect the rubber hose onto the metal pipe and install a new screw-type hose clamp (the factory clamps are junk).

Overall this took about 30 minutes, and is a very clean job. Anyone who can change their own oil can do this job, you just need a helper to start and stop the engine.
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