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There is a round plastic container near the left hand side between engine and mud guard. Unscrew the top and you will find a dipstick that shows correct fluid level. Use transmission oil sold at garages etc. The brake fluid container is on the same side near the radiator.
unlike the oil, where you pour it in a bigger hole. The transmission fluid goes in the dip stick hole. (hard to believe but true) get a small funnel and stick it where the dipstick goes. picture shows how to find the dipstick hole from by looking at the side of your engine toward the back you will find it.
The Transmission fluid stick is located toward the back of the engine on the drivers side. Check on a level surface when the engine is hot and the vehicle is in "Park". Don't add fluid if within the crosshatch marks. Be sure to use the correct fluid if adding. Check your owner's manual for the correct Mercon fluid. My 2001 taurus with the 3.0 engine uses Mercon V (Mercon 5) only.
The Brake fluid can be visually checked. The master cylinder reservoir is also located on toward the back of the engine on the driver's side
To replace the fluid.There are no special requirements here. Drop the pan being careful not to damage the pan gasket with a container to catch the old fluid underneath it, replace the filter, replace the pan and then add about 4 quarts (via the dipstick hole) of the required Hyundai SP-III fluid you can get at the dealer. Double check the level with the engine warm and in park position.Be aware that your transmission uses a specific formulation of transmission fluid, available at the dealer. It is a bit more expensive than off the shelf fluid like Dextron, but you are only changing it every 30K, so the cost over time is minimal.-----------
this should help.thanks.Helpmech
Power steering fluid - Dexron 2 or 3 automatic transmission fluid. Yes transmission fluid. And while you are at it check the fluid level in the transmission.
Since you got the hood up, check the brake fluid, wiper fluid, radiator fluid, battery fluid, oil level.