Change the fluid. The transmission pan has a drain plug, probably 19mm. Obtain a new drain plug crush washer from your dealer. The torque spec of the drain plug is 25 ft/lbs.
Valvoline Maxlife ATF is formulated with synthetic basestocks and is a very good fluid for the price. It works in almost anything, and it meets the Nissan Matic J spec.
I don't know the drain & fill capacity of the R51's transmission, so obtain a measurable container and put in exactly what was drained, then check the level.
I'd suggest doing a few drain & fills several days within each other. If you do this, use the new crush washer for the final drain & fill only; the crush washer currently on the drain plug will be fine for a few days (but obviously check for leaks just in case).
Read page
MA-23 of the factory service manual to see more information about checking & changing the fluid.
You may also want to change the rear differential fluid. See
MA-27. You'll need 1.5 quarts of 75W-90 GL-5 fluid - 2 quarts of Mobil 1 75W-90 synthetic gear oil should be easily obtained at your local parts store, and is reasonably priced for a very good fluid. You'll need new gaskets (probably crush washers, but they aren't the same ones as the oil/trans drain plug washers), so get those at the dealer too if you decide to do this. The plugs are probably 1/2" drive. If they're anything like the WD21/R50 diffs, it may be difficult to remove the plugs. If so, try using some PB Blaster or other penetrating oil and try removing the plugs after a long drive; heat should help to loosen the plugs.
Since you just bought the vehicle, you should change the in-cabin microfilter (see
MA-21), power steering fluid (use a turkey baster or suction gun to siphon fluid out of the reservoir; Mobil 1 synthetic ATF or Valvoline Maxlife is a good choice here - do this several times a few days apart as well), get a brake fluid flush, and change the coolant (drain & fill of radiator with OEM coolant + distilled water will suffice). Also, at 105k, the spark plugs are scheduled to be replaced. Unless, of course, you have records that indicate these items have already been serviced.
I don't know how mechanically inclined you are, so perhaps consult the dealer if you're unsure about doing any of this service yourself.
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