No need to remove the rear tranmission crossmember to remove oil pan.
Yes. Exactly right.
Does your tranny have a drain PLUG?
FIFY.
The trick to dropping the fluid if there's no drain plug, is to disconnect the lower trans cooler tube (transmission-to-cooler tube) at the radiator, cram a rubber hose on the end, and direct it into a drain pan.
Start the engine, let the trans pump move the fluid from the trans pan to the drain pan. As soon as the fluid shooting out of the cooler tube starts to sputter, shut off the engine. 90% of the fluid that was in the pan is now gone--so the pan comes off with less mess.
Once the pan has been cleaned, and the new filter installed, put the pan back in place, fill with about 5 quarts of fluid. Open another ten-ish quarts so they're ready to pour.
Start the engine, dump fluid down the dipstick tube as fast as you can pour it.
When the fluid squirting into the drain pan is as virgin-red as the stuff you're dumping in, shut off the engine. Your drain pan now has 12+ quarts of old, dirty fluid in it. Reconnect the cooler tube. Start engine, top off fluid as needed.
Have a beer. You've just flushed almost all the old fluid from your trans.
If you want to do this even better, buy a short length of pre-flared tubing from the parts store, remove the UPPER cooler tube, (cooler-to-transmission tube) install the new, "temporary" tube so that it empties into your drain pan. This way, you flush the trans cooler, too.
Make sure the new "temporary" tube has the same flare system as the trans cooler tubes on the vehicle--some newer vehicles don't use the old-style double flare.