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All aluminum case always takes Automatic Transmission fluid...If it isn't aluminum It should take 85/140 or Something compatible...Call a parts store and they will tell you exactly what is required ...Or equivalent ...Also look in owners manual if you have it ....Save time and call parts store..
There is no dipstick for a manual transmission on a 94 for f150. To check the fluid you will need to get under the truck and remove a check plug. The plug will be about half way up the trans case either on the left or right side. Take the plug out and put your finger in the hole. The fluid should be withing 1/2 inch of the hole. Make sure you pull the plug that is half way up the case and not the one at the bottom as that one will drain the fluid out.
Add your fluid through the tube that your transmission dip sick come out of. Take out your transmission dipstick(make sure it is not the oil dipstick) put a funnel in the tube and add the trans fluid. Check the fluid when the trans is warm because trans fluid expands with heat and you want to make sure you don't overfill. Add small amounts at a time.
Ford has 2 types of 4x4 system engagement. One is a knob on the dash that you just turn to 4wheel drive high or low. The other system is the 4x4 transfer case shift on the transmission tunnel (hump) between the driver and passenger seats. To shift into 4 wheel drive high while driving, just let off the gas and shift transfer case into 4H position, and continue driving. To shift into 4 wheel drive Low, stop the vehicle completely, put transmission in neutral, shift transfer case into 4Low position, put trans. in gear, and start driving. I am assuming before doing the above, you have locked in ( turned the front hubs to 4 wheel drive position.) Any further questions, let me know.