If your car is three speed auto the "D" is drive . You could down shift to second gear "2" even to 1st gear "1" w/o engaging your brake pedal but, you must aware your speed or your tranny will not last on you. From D to 2 gear could use as an engine break only if you are in tight situation only. This is not advisable if you driving normally.
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Your mechanic meant is to drive your car in 10 min, or 15 miles or 24 kilometers to bring fluid into normal operational (Warm) not hot or boiled then you can check your fluid in a flat surpace 3 minutes after you park you car for more acurate reading.





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