Hi, I have a 2000 Jeep Wrangler Sahara; I need to add fluid?

Hello, and thanks for helping. I have the above vehicle and need to add some Lucas Stops Slip to clean and lubricate sticking valves to stop sticky shifts. I read my owner's manual up on removing the fill bolt, but it is hard to get to and I don't know the good way to do it without the lubricant dripping everywhere. I thought I'd give this a try before wasting a bunch of money to get it done. Thanks again for your time and have a good one!