I'm not sure specifically on a prelude but most cars do not have a drain bolt for an auto. You have to remove the pan. Just take out all but a couple of bolts on one side and be prepared for a mess. The filter is on the underside of the tranny and should be visible when you take to pan off. At least this is how I have done it on numerous other vehicles. Someone correct me if it is different on a prelude.
That is not a filter in the conventional sense of the word. I think what you describe would be considered a strainer and not something to be replaced at a fluid change.
Wow! This surprises me. Honda does everything so well, with durability in mind, it is very surprising there is no filter. Seems like that would cause premature wear even with frequent changes in fluid.
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