I changed it on my 2010 MKS with 50,000 miles today. I was able to remove the plug from the bottom using a swivel head ratchet. I thought the plug would be pretty tight but it came out surprisingly easy.
I was able to remove about 12 ounces. I just couldn't get the tube in as deeply as I would have liked to. I must have been bumping into a gear or shaft or something. The old fluid was much thinner than I expected - maybe because I did it while it was warm. I have a burn on my arm to prove that. Honestly, the old lube was not as bad as I expected. The plug is magnetized and it had some residue on it but I have seen much worse in transmissions or differentials.
I think this is good maintenance but I do not think mine was in dire shape. I might not drive my car as hard as some guys or maybe the fluid that I couldn't get out was really bad. I don't know but at least I feel better about doing it.