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You have to have the tranny fluid sucked out, basically. There's a plug on the side of it. All you can do with that is open it and see if anything comes out. If it does, it's full. If it's still pink, it's good.
How many miles do you have? GM recommends changing tranny fluid at 50,000miles if you abuse it, or 100,000 if you don't. I just turned 70,000, I tow a trailer from time to time (with my 3.4), and the fluid is still fine.
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