Here is what I do and have been very successful doing it. I can draw out ~2 qts of fluid with a small pump via the dipstick/fill tube. What I do is have a mechanic drop the pan, clean it, swap out the filter and refill the unit. Reason being if there were leaks it is his problem, and the job was never fun on my back.
After the mechanic did his thing I would drive home, and pump out ~2 qts of ATF via the dipstick, drive a little and do it again for a total of about 10 qts of fluid. I've been doing this every 25,000-30,000 miles and everything seems fine. I have done line flushes, but for people who have a hard time getting a line off or are afraid this method works well if they have a dipstick/fill tube.
The fluid is always clean and there is hardly anything to clean when he drops the pan. I could probably just swap out the fluid every 25,000-30,000 miles and do the pan drop very 50,000-60,000 miles but I'd rather be safe than sorry. The key is to never let the fluid get to the point where it is bad and really loaded with junk. This method works well for original owners of their vehicles, or people who know the transmission service history. The above can be modified for cars with unknown history.