In this video I describe how to change the transmission fluid in a 2011 ML350, which is a W164 body style. You can see some of the subtle issues that come up when doing this job. I recommend catching all of the old fluid you drain out as a double check on the quantity of fluid that gets put back in. For removing the torque-converter drain plug you will need a 27mm socket to rotate the crankshaft and get the drain plug to appear in the window of the bell housing. I would also recommend getting a new torque converter drain plug - this was the second change in this car and the 4mm hex hole in the plug was starting to get worn. Be sure to get replacement copper crush seals for both the torque converter and pan drain plugs. Tightening torque on the 8mm torque converter plug is 10 N-m and on the 10 mm plug it is 15 N-m.
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