What year is your rig?
The thread referenced above covers it all, the rest is personal preference.
ie: drop the pan versus multiple changes of 3-4 quarts at a time versus a complete flush; I found that a complete flush done properly (key) gave me the best result, it just took awhile to get there; but read on for the details.
One thing I found is that if you look very very very (very) closely at the ATF dipstick under very very full bright sunlight, you will see tiny little particles floating in the ATF as you tilt the dipstick; more or less depending on wear, etc. You do not want to see a lot of metal sparklies; a few OK, a lot, not OK.
If a lot of debris is seen; then take your pick; drop the pan to clean it manually, or, flush the system a few times; I did the latter as I did not want to risk leaks from the pan. And as you will read, the filter is a fine mesh metal screen, IME they really don't get clogged up like what you might see in a neglected GM, Chrylser, Ford, tranny filter.
Another thing I discovered; if you have a Toyota dealer perform a tranny flush, you must request that they use 14-16 quarts. Reason being, between the total capacity of the TC, the Tranny, and the cooler, you are somewhere around 12-14 quarts, and you want to use a bit extra, to really "flush"out all the cleaner that they put in, as well as all the old ATF, debris, etc,
I had flushes performed at two dealers before I realized that they were only using 6 quarts per flush. I couldn't understand why my ATF still had some debris, just a tiny bit, but it still was there after two flushes about 15K miles apart. That is when I asked them how much ATF they used; 6 quarts. So, the next time I took it to a BG shop, brought them 16 quarts of Mobil 1 synthetic ATF and had them do it. Before it was done that last time, I added two bottles of the LUBEGARD tranny flush; it is not a solvent and will not hurt anything. About $10 a bottle at NAPA. Real good stuff IMO
After that last clean and complete flush, it shifted better than it had in years. Perfect.
Take your pick, pick your poison. Any method you choose is better then not changing it. Just be sure to use a high quality Dexron type ATF, and not the bulk crap they use in most quick lube shops. IMO