Yes, always change the seal and the valve block seal also (a bit more work).
To change the mechatronic seal, once you've got the sump off, there's a little plastic tab you pull down to 'unlock' it, and can then twist it outwards (need to unplug the loom first - it's a blind spot, so a torch and mirror or camera are handy).
To replace the valve block seal, you need to remove the screws of the mechatronics pack and drop it down (weighs about 5kg). There's a specific torqueing procedure for both the mechatronics pack and the sump.
If you search Google for ZF 6HP service procedure, ZF publish an excellent guide on how to perform all tasks in an easy to read flow chart format. 2015 Range Rover Autobiography 4.4 SDV8
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