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An oil and oil filter change should be done every 5,000 miles. Follow this video tutorial by YouTuber NutzAboutBolts to do the replacement yourself.
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2002-2006 Cadillac Escalade Oil and Oil Filter Replacement
An oil and oil filter change should be done...
iFixit Library 2002-2006 Cadillac Escalade
Moderate
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Guide 93986
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