The Bently has details but.... yes there is a drain plug, and then theres an big inverse fill plug/cap that requires a rare tool/bit/hex thingy to take off... yes there is not dipstick... to properly measure / fill.... Bentley details that too... basically w/ the car running and the tranny at normal temp.... to fill just keepin puttin in fluid until it spills out that inverse fill plug... filter can be hard to get... mine is from BMW dealer and they needed one day to get it because none were in stock, but the regional parts warehouse had plenty... as far as fluid... I used redline... think u can use Dexron III or you can use Mobil 1 Syn