How to drain and fill transmission fluid?

Yep, there is a filter, but you will need to remove the fluid pan. It looks pretty straight forward.

Here is a guide to help us:

https://www.2carpros.com/articles/how-to-check-and-add-transmission-fluid

ZF Lifeguard Fluid 8

Please check the information int he images below.

cool, so just drain and fill till it comes out without needing to get it to specific temperature then check again?

You need to warm the engine up until the cooling fans come on, then the temperature is correct. Fill until the fluid comes out and install the plug.

With engine off.

?? the engine must be running.

I am asking if engine should be off or running after it gets to temperature and then fill.

Running.