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2009 Infiniti G37s Transmission Fluid Change

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I have a 2009 Infiniti G37s that I bought at 90,000 miles. I now have 180,00 miles on it, and I haven't changed the transmission fluid in that time. I'm not sure if it's ever been done. It still shifts really well. Should I replace the fluid, or is it a lost cause? 

Clarification: How does the fluid look? Any burnt smell to it?

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If fluid is clear you can do a filter fluid change, no flush. If its cloudy or dirty, sell it or drive it til it dies. 

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