Yes, the turkey baster is a good start. I am under the impression many consider this the only step if done regularly.Im pretty sure the turkey baster is just for taking the old fluid out of the reservoir, that way you don't have to waste time bleeding it out through the calipers. In the end you still replace a majority of the old fluid.
Funny thing about our Lexus GS350; Lexus recommends a brake fluid service @ 60K but considers the ATF a "lifetime fluid".
What a bunch of bozos....