Check your owner's manual. It will tell you exactly how to check any and all fluids for your vehicle. Any mechanic shop or oil change place should be able to help you with that or even do it for you (normally free of charge). Generally speaking, transmission fluid is checked with the engine warmed up and running however it is not the case for all vehicles. For many standard transmission vehicles there is no way to check the fluid unless you pull out a plug and stick your finger inside (engine off of course!).
Good luck and Blessings!
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