With the transmission at operating temperature (which usually can be achieved by driving around for 10 minutes
after the engine is warmed up), the fluid should be within the crosshatched area marked "HOT". I usually check mine at a gas station after driving around for a while so I know everything's hot.
1. Drive around for 10 minutes in the city after the transmission is at operating temperature.
2. Park on a level surface and apply the parking brake.
3. With P selected, shift through every gear and return to P.
4. Pull the transmission dipstick with the engine idling, wipe it clean, reinsert it completely, and read the level. It must be within the notched area labeled "HOT". Check for fluid contamination after wiping on a paper towel.
The approximate drain & fill capacity is 4 quarts of fluid. The total capacity is 9 quarts. To change out all of the fluid at once, you can perform a cooler line fluid exchange. Steps are found in the
general information thread under the "Transmission and driveline" Q&A section.
As for fluids, I've had good experience with Castrol Import Multi Vehicle in my Pathfinder. 10 quarts can be obtained for $36.90 before tax at
Advance Auto Parts if you order online, use discount code
CCABIN and pick-up in store. I also put a bottle of
Lubegard Red (which I found at my local NAPA), an additive highly lauded and used by many transmission shops. In my experience, it smoothed downshifts in particular and there is less shift shock when triggering overdrive via the O/D off button. It also supposedly reduces temperatures, but since I don't have a transmission temperature gauge I can't verify that claim - that and I have an auxiliary transmission cooler installed, so my temperatures should already be lower than what other members here may be seeing.
2001 and newer Pathfinders have a "heavy duty" version of the RE4R01A which has upgraded internal components to back the VQ35DE engine. They are fairly bulletproof and yours should not be "tired" unless the previous owner(s) did not maintain the fluid regularly.