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ONLY under warranty? I don't understand the question. I'm sure it could still be updated if there is an update, usually on an something of this vintage, an upgrade would be a change of the control module. There were also some mods done to a part on top of the valve body called the conductor plate, and a magnetic pad can be "thrown in" to the bottom of the oil pan if you ever have it off.
Personally I don't recommend changing the tranny fluid (neither does Benz), but if you wanted to change the fluid on an original 97 722.6, keep these couple changes in mind too. Also there are a few caps that go over the shift valves that you can add too, this should be done if you replace the conductor plate.
But just research around a bit before deciding to change ANYTHING if the tranny is shifting correctly.
Gilly
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