Hi,
140F is way to cold. The problem is any moisture in the fluid will not 'boil off'. At 160F, that is still a little to cold, and is subject to condensation issues. At 180F, all the moisture will be driven out of the transmission fluid, and the fluid will not be overheating either.
At 215F, the transmission fluid is at it's maximum temperature for a 15,000 mile normal service life. It is OK to go a little over 215 - say to 235 on a mountain grade, and still keep the transmission fluid for it's normal 15,000 mile service life, as long as most of the time it is running in the 180 - 215F temperature range, and only reached 235 on a occasional hill climb.
I had a 1985 GM 3500 van based motorhome, and it ran 235F all the time, and was upwards of 255F on a mountain grade. To the point that I had to slow down to keep it from climbing further. That was a 3 speed transmission and 4.10:1 rear axle ratio. It had a 'tiny' transmission cooler, and the engine radiator overheated on a 95F day while driving to Las Vegas, so the engine fan clutch was coming on on flat areas when it was over 95F.
By installing a 11" high and 19" wide transmission cooler with 1/2" tubing behind the radiator, and with the hot trans fluid going into that cooler first, I figured that going into the radiator cooler would 'finish cooling' the fluid, and I got rid of the stock cooler. The next trip, the transmission was not dumping nearly as much heat into the radiator - through it's cooler, however was still running a little to hot. About 200F all the time and warmer on the mountains. So I re-installed the stock factory cooler after the engine radiator cooler, and then the transmission would run between 180 and 185F on level ground (even in 95F weather) and would not go over about 215 on a mountain grade.
I also installed a 'desert cooler' to help control the engine radiator temps. Basically that is some copper tubing run across the radiator, with a small windshield water reservoir and pump and a timer to turn on the pump for 2 seconds at variable internals (from 3 to 30 seconds). On a mountain grade, I would set it to run the pump every 3 or 5 seconds, while on flat lands at 95F outside, I would run it about every 20 seconds to save water while also running the system a little cooler. The evaporating water cools the radiator, A/C condenser, and the transmission coolers too.
Anyway that is my long story.
It is recommended that if you go over 235F, that you change the transmission fluid within the next 1,000 miles. What I would do is remove one of the transmission cooler lines, and then run the engine until all the fluid goes out, and then shut off the engine, drop the pan to get out the last 1/2 gallon or so (without the mess of dropping a pan full of fluid). This gets much of the fluid from the torque converter too.
Have fun camping!
Fred.
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