All good advice already,but technique can also play a huge part in how hard the transmission works.
What tyre pressures where you running? What tyres are you running? What ratios? Were the wheels churning, or had they gripped? I know it sounds silly but in sand you can actually grip the sand and traverse, but too many revs and the wheels will be churning across the sand and makes the trans and engine work alot harder than needed. Backing off slightly will allow the wheels to grip and stop slipping.
All said and done, unless it was a 40deg + day and powder sand, I wouldnt expect you to get the hot oil.
Unfortunately Rubis are low geared, great for crawling but when you need a bit of speed on sand, it can be a hurdle. This all depends on what tyres pressure, ratios etc as mentioned before.
If you are not sure of the service history, if the trans is more than 50 000km old then oil change is a must. The condition of the oil is the lifeblood of the transmission, at least a service and then maybe for longterm an additonal cooler will be beneficial. Good news, its a simple fit for a Rubi.
Matt.
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