Usually take the motor for a short run to warm gear oil. then go through the gear shift bit, then remove the drain part of the plug again, if no oil comes out fill again until oil just comes out, close and the pour another 0.4 of a litre in. see Haynes manual. it worked ok for me when my other insignia got a bit lumpy. I personally would only use transmission fluid from the stealers, but that's your preference.
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