I think it's due at 97k miles per the Owner's Manual. I'm at 92k miles so it's time!
It takes a high end ATF.
Mine is going to get Mobil 1 ATF of the proper grade.
I have seen instructions. I'll track them down and post them here.
You drop the oil pan, catch and measure the old quantity, change a filter and the pan gasket, and pour in that same amount from the fill plug,,,
I believe.... At least this is my technique. The shop manual calls for hooking up to the dealer equipment to run the drive unit fluid pump and fill it then to the fill plug,,,, I believe ....