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2010 Santa Fe ATF fluid change

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I bought a used 2010 Santa Fe 3.5L V6 with about 92,000 miles on it. I've been wanting to change the ATF fluid but I'm not sure if it has ever been serviced before.

I've read contradicting info online on whether it's safe to drill & fill the ATF fluid. Any suggestions?

The tranny sometimes has a slight bump shifting into/out of 2nd gear. Besides that it's fine.

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