If your model does not have a transmission dip stick, then it is no longer home serviceable unless you have a lift. The car must be completely level when adding ATF.
There are some DIY'ers that say you can disconnect both hoses to the radiator, use the engine to pump out 2 quarts and add 2 quarts to the return line - repeating for 12 quarts. That might work, I haven't tried it.
There isn't much room in the engine bay...
NEVER allow a shop to use a machine to pump out/flush ATF.
And yes, the automatics need a flush at around 80K miles, and 50K thereafter.
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Keeping it running is better than buying new
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