There's a fill hole(14 or 17mm bolt) that's about the same height as the axle. You can fill through the reverse sensor but make sure the fill hole is open; the correct way to fill it is to fill until fluid overflows from the fill hole(car should be on level surface).
Any works: GM/Pennzoil Syncromesh, Honda MTF, Torco MTF/RTF, Amsoil Synchromesch, 10w30, etc.
Many people will just outright suggest Honda MTF but their formulas have changed, and unfortunately I'm not a fan(the latest formula seems closer to ATF; and biased more towards their newer transmissions). If anything, maybe a mix of Honda MTF and 10w30 would be good or best. I'd also avoid Royal Purple Syncromesh; it's pretty watery, like ATF, and doesn't work well when cold.
I'd suggest GM/Pennzoil Synchromesh+friction modifier or if you're willing to spend a little more, Torco MTF.