This post reminded me: Full fluid change at 170,000km including valve body rebuild, filter, mechatronic seals and solenoids replaced. New pan gasket (thicker version).
Used the original torx bolts, a 1/4" drive torque wrench on all, no probs. Lifted the transmission and removed cross member, much more room and allowed to get the steel pan, filter and valve body out and clear the exhaust crossover pipe.

Refill with penrite bmv, took about 9 litres, careful monitoring of transmission temp, is full when fluid dribbles out at 35degC with engine running.

No retorque of sump pan bolts needed, torqued to 10Nm.

Did my front and rear diffs plus transfer case at the same time, penrite gear oil in the diffs and Royal Purple syncromax in the transfer case.

Now at 190,000+kms, no issues, shifts are smooth, no leaks, all good.

I found with working methodically and carefully ,plus lifting the gearbox about 50mm made a big difference.