Art,
The first transmission service in particular it is very important to change the filter as well as the fluid. That requires dropping the pan of course.
Yes, you refill the fluid through the dipstick tube. I don't know what brand of coach you have, but on the '94 Bounder that I had, the trans dipstick was fairly accessible, right next to the oil dipstick. I just needed to use a funnel with a flexible hose and pour slowly.
Depending on whether you are towing a car or trailer, I would service the trans every two years or 25,000 miles, whichever comes first. Keep an eye on the fluid condition and service the unit if you detect any burned smell (which you probably won't unless you pull a lot of serious mountain grades).
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Alan King
2005 Chevrolet 2500 HD CC 8.1L/Allison
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