Car is 02 a6 AT 2.7T quatro, just turned 41k

Would like to do a transmission fluid/filter change without the stealership price. I don't have a manual but I heard there's a special bit I have to pick up from an auto parts store. Other than that it seems pretty straight forward. Can someone throw me the fluid specs/amount, filter type/part number and gaskets I'll need if you have it off hand. I have the jack, stands, fluid pump and all that other good stuff. Thanks in advance.

sorry, for some reason it's not letting me use the search function, goes to blank page.