Underneath the truck you should have two pans with drain screws. The one closes to the front is probabbly your oil. The one furthest is your transmission. All you should have to do is un-screw the drain plug and change the fluid like an oil change.....
If no screw then you will have to un-screw the whole pan and drain that way in which you may have to change the seal as well.
Hope this helps.
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