Look up posts by turquise1. He has a lot of posts and pictures of the 5HP24 trans. I'm in the "not going to fix a bad trans with a fluid change" group. No way to sugarcoat it, with that kind of mileage (171,000 miles) you need a trans rebuild.

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2006 Infiniti G35
2001 BMW 3.0I E53 X5 Build date 08/2000 SOLD
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