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I bought my car (2000 Coupe) with 22K on it and changed the trans and diff fluid right away. The trans fluid that came out looked brand new and the diff fluid was pretty nasty. I was hoping that after changing the fluid the slight noise in the diff would go away but that wasn't the case. At about 30K I noticed the back bumper was accumulating diff fluid so that's when I changed the gears in the rear. Since then I changed the fluid in the diff at 32K as a break in change.
Changing the fluids is really easy on both the trans and diff, just need the pump that attaches to the bottle to get the fluid into the fill holes. I think the pump is like $10 at any parts store. As for fluids I only used GM's diff fluid and Dextron 3 for the trans. Any brand is fine as all Dex 3 fluid is the same and that is what is currently in the car.