GL-5 lubricant can be and some specify that it be used in a transmission, here is a link to Valvoline gear oils.
http://www.valvoline.co.nz/prod0111.htm
But this isn't really the issue. The factory manuals recommended ATF years ago and the gear boxes haven't evolved into some other kind of tranny they are still the same trannys as when the manuals were written.