Rather new to the list but did receive help about changing the transmission filter and oil form the archives. I ran across this "youtube" from ZF transmission which I thought was very good and with useful information particularly about when to do changes. Jaguar says sealed for life with no service which is hard for me to accept but I went with the flow until I started getting the infamous "chirp" for the second time at 112K miles.

ZF 6HP Transmission Oil Change Interval Procedure

 

UPDATE: Changed the filter and oil and it pretty much went like the video. A little cumbersome under car on back. A little tough adding oil while engine is running and refitting plug around exhaust pipe.
A couple take away notes. The bolts are some times hard to remove so use good thorx driver. Had to grip the head of a couple with vise grips to break seal. Purchase extra bolts when doing the job. I had to use 5 new ones. The new bolts are T40 vs T27s.. May want to consider replacing all since it is a little bit of a pain when torque down and having to swap. The torque pattern and setting is important. I have a little leakage (a few drops over night) I'm dealing with. The final torque is 7.33ft/#. My first attempt I over torqued so that why I think I have the leak. Will probably have to completely empty and reassemble. The chrip I had is 95% gone and hoping overtime it will completely quiet down. The supplier said I may need to add the additive if it doesn't. I'll run with the leak for awhile till I determine if I need the additive and then redo everything. The oil that came out was dark, no metal in the bottom of the pan just the typical coating on everything and the magnets. Overall I think the oil and filter change is right thing to do. Wish I would have done it around 75K miles instead of 112K miles.