If you wipe with a rag, you'll end up introducing lint into the transmission fluid. The factory service manual is very, very specific about wanting you to wipe the stick with nothing but leather so as to avoid all possibility of getting anything into the fluid.

Personally I find it a bit confusing, given that the fluid does circulate through a filter. Doesn't mean I'm going to test my luck though.

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1984 300D Turbo, 326000 Km, Thistle Green Metallic