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Just to wrap this up, I drained four times before swapping filter and gasket, and filling and topping up the final time. The fluid was very clear in the last draining.
Now the gearbox is buttery smooth, smoother than I've ever experienced it! The reason I wanted to change fluid in the first place was due to a feeling of slipping (taking longer to 'get in' second gear when accelerating), and the occational rough downshift after braking, which lead me to think it was low on fluid as well.
So very happy camper now. And thanks to you all as well!
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Hybrid Mode
