For a 2.4L, you don't have a serviceable transmission filter, so basically at that mileage, you need to change the fluid. There are two options, one is a drain and refill and the other is a transmission flush.
There are also two different opinions as to which is better with higher mileage cars. The first opinion is that a flush may actually damage your transmission as there will be quite a bit of particulate matter in your fluid at this mileage. The second opinion is that a drain and refill never really gets all the fluid out, as it does not get the fluid out of the torque converter, and thus might not help. Some people say that if you do not have the flush machine, that if you drain and refill multiple times, you can get all the fluid out. There are steps in the service manual I believe.
Lastly it's very important to use only Mitsubishi Diamond SPIII fluid. Do not use aftermarket stuff, as our transmissions are rather sensitive to the fluid used. If you're getting the transmission flushed at a shop, take 16qts of the Mitsu fluid or more to the shop so that you know for sure they are using the right fluid.
Now, at 162K miles, you might want to think about changing all the other fluids also, like the coolant, brake and power steering fluid. It's also important to do the spark plugs, wires, thermostat, PCV Valve, air filter(s) and timing belt and water pump. Basic maintenance helps you run your car for many years to come.
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