Finally got a around to doing the change at just under 3800K miles on the odo.
First of all, I got my Stahlwille 1/2-drive T70 Torx socket last week, which fit the drain bolt head perfectly. I tried removing the bolt from the left side behind the tire. I also did an oil change later, and I realized that it would have been easier to reach from the front. It took a bit of force to get the bolt off, but when I reached the right torque, it just snapped loose, and was easy to remove by hand.
The fluid looked to be really dark, and I could see lots of metal shavings, even with rather low mileage. The drain bolt has a rather strong magnet, and lots of black metallic sludge and some metal bits were firmly attached to the bolt. The washer was a copper, and I believe it was designed as a crush washer. I couldn't find a replacement on a Sunday, so I turned it upside down and reused it. It doesn't seem to be leaking, but I plan on using a new one for the next change (maybe 30K miles).
I poured just about 3 1/2 quarts of Redline 70W90NS using a funnel (with extension) through the dipstick hole, but it looks like the level is just a hair over the full mark. I'm not sure this is as potentially bad as a high motor oil level (oil can froth), I'm thinking of using a turkey baster with some plastic hosing attached (to suck a bit out of the dipstick hole); I'm open to any other suggestions for extracting fluid.
It seems to be shifting a bit better now. I had a hard time shifting into 1st or 2nd. I'll see how it does after a few days.