It's a little tricky, but I just found the answer to this on the Nissan Frontier forums. There is a dipstick, but it's down lower on the passenger side of the engine. It's small, and it's held down by a 10mm bolt. You need to remove the bolt in order to pull the dipstick.
If you're going to do a drain/fill, that is where you would put the new J/S-matic fluid. You would need a funnel with a really small outlet.
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