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Does an 03 Impreza rs transmission directly bolt on and work with an 02 wrx engine?

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You're putting the WRX engine in the RS?

 

If that's the case, the transmission bolting up is the least of your worries. Swapping a turbo engine into a non-turbo car is a big undertaking. Engine crossmember and sway bar have to be swapped. Radiator, exhaust. Most of the wiring (which requires removing the dash). If it's a manual transmission, you'll certainly need a new clutch. If it's an automatic, you'll have a nightmare of getting the electronic transmission control working.

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