You do not remove any protective covers from underneath.
If you look the driver side above the transmission pan, you will see 24mm fill bolt that has WS stamped on the bolt face.
My rig is 2004 that's missing the dipstick.
In order to place 24mm socket, I removed the transmission linkage by simply removing a retaining pin and dropping the linkage to gain the space.

I removed about 3 1/2 quarts from the drain plug which is 14mm.
I carefully measured slightly more than 3 1/2 of new WS fluid and used a fluid pump to place new fluids in.
All in all 1 1/2 banana job for trying not to make a big mess.
Tranny shifts smoother than before and I will be doing this job more often.
If you look the driver side above the transmission pan, you will see 24mm fill bolt that has WS stamped on the bolt face.

My rig is 2004 that's missing the dipstick.
In order to place 24mm socket, I removed the transmission linkage by simply removing a retaining pin and dropping the linkage to gain the space.

I removed about 3 1/2 quarts from the drain plug which is 14mm.
I carefully measured slightly more than 3 1/2 of new WS fluid and used a fluid pump to place new fluids in.

All in all 1 1/2 banana job for trying not to make a big mess.
Tranny shifts smoother than before and I will be doing this job more often.