do they make a dipstik/tube to fill the 2004 or latter transmissions like is made for the 97-2003 xk8/ xj8 transmissions

 

Never seen one. It is an exacting procedure to fill one of these transmissions.
Plenty of detail on this topic in this forum.

 

The only V8 that has a dipstick for the trans is XJR/XKR because the use a Mercedes Benz trans. Yours being an 04, you'll have the 6 speed ZF, you check it by removing the fill plug on the side of the trans, while running, between 30 and 50 degrees Celsius, and you should have a steady drip.

 

There is no dipstick, because these were deemed "sealed for life" by ZF when the car was originally engineered.

Time and reality eventually caught up with ZF, and they now recommend a fluid change. Here is a video from ZF on what a fluid change requires:

 

thanks for the replies just thought i,d ask-----going to change fliud on a 05with 154k this weekend

 

Be sure and change the sealing sleeve and use the upgraded pan bolts to. I prefer to use this guy as he knows ZF's forward and backwards!

Now I use the Lifeguard fluid because it has come down in price a lot and is about $19/liter.

The CTSC - ZF Parts
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To add use Vasoline when seating the sealing sleeve and measure distance when the harness is plugged in before putting the pan back on. 2.5 - 3.0mm is what your aiming for.