You should be able to do this job on a stock height Jeep without a lift or ramps. In fact, when refilling, it's recommended that the Jeep be level.
First, remove the fill plug. You want make sure you can remove that plug before you drain the t-case! You'll need a 10mm allen head to do that. Mine came off pretty easily. I hit them both with a touch of PB Blaster, then went about changing the engine oil.
This job was made easier with a pump I picked up at the auto parts store. The ATF+4 comes in regular ol' quart oil bottles. The pump was for a widemouth bottle. So, I cleaned out an old Mobil1 bottle and dumped the fluid in there. This set up worked great. However, it would only pump a bit more than 3/4 of the fluid out of the bottle. For this job, you'll be OK with 2 quarts of ATF +4. You'll be able to get in the correct amount of fluid without an issue.
After you're full, install and torque and the fill plug. You're now read to roll.
I've read on some sites that taking the Jeep out for a quick drive before doing this helps with the draining process. I imagine much like a warm engine before and oil change, it helps remove all the fluid and anything that's suspended in it.
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