Yes, you can do the service yourself. here is a guide to help and the instructions to do the job for your car in the images below:
https://www.2carpros.com/articles/how-to-check-and-add-transmission-fluid
24 00 Transmission Filling Capacities E65 / E66 GA6HP32Z
Total oil volume (approx.) .................... 11.25 Liters
Transmission and torque converter drained
Attention!
To set the correct level, it is mandatory that the service function "Transmission control unit: oil adjustment" is performed using the diagnosis system.
Failure to comply with this requirement will result in serious damage to the automatic transmission!
Check out the images (below). Please let us know if you need anything else to get the problem fixed.
Images (Click to make bigger)
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Monday, May 1st, 2023 AT 9:33 AM