I have a 2000 S-type 4.0L V8 and I keep getting a "transmission fault" message and also sometimes when putting into reverse it hits kind of hard usually only when I first start it up in the morning or after like an hour after getting out of my car I don't get any codes for my transmission on my code reader

 

Common problems include fluid low, fluid needs changing, or the shifter cable has stretched.

 

Ok thank you much appreciated is it hard to change the fluid yourself?

 

Best to read the threads with details then you know whether it's your meaning of hard or not.