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Basic steps are listed in the video I linked. Can't get much more detailed than that. Also as insancoder said ZF specifies themselves to change the fluid at 60K and that is what most trans manufacturers suggest as well.
As for JamesF30n20, Just do the flush! It's not going to hurt your trans and you will probably extended the life of it. Now if you have like 160K and never done it... might be a gamble.. haha.
ONLY USE ZF LifeGuard in the trans though... it's expensive but it's guaranteed to work as Auto's are very particular to oils. Manuals are easier and almost any good MT-90 will work.
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2012 F30: G25-660 Bottom Mount Mani+ DP+ Intake, CSF FMIC, VRSF CP, Walbro 450 LPFP, PR Injection with AIC 4, S63TU Injectors, Tuned with BM3, ZF Race 4 Puck and Non SSA Pressure plate, Catless, 3.5" Quad Muffler, Custom Valved Bilstein B8 + H&R SS. Max 456 WHP - 452 WTRQ. Currently tuned down to 434 WHP and 362 WTRQ to save the rods.
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