How do you change the automatic transmission fluid in your 1994 Subaru legacy?

You listed this question under Subaru Forester, but the answer is likely the same. Subaru is good enough to put a drain plug on the transmission so it is the same procedure as changing engine oil, except you use the transmission dipstick hole to refill. This does not change the fluid in the torque converter though, which probably holds almost half of the Transmission Fluid. If this is the first time you have changed fluid in this 16 year old car you may want to take it to a professional where they can flush the transmission. I always recommend yearly changes to prevent having to flush the converter.

If you have the knowledge to assess the condition of the fluid that you drain, you may just want to change the fluid, drive it for a week or two, change again, drive, and change again until no more nasty stuff comes out. My assumption is that most people don't think of their transmission fluid until something goes wrong, especially on an older car.