changing the oil is easy. four bolts remove the skid plate over (under) the oil pan, and about half a dozen bolts remove the front left skid plate. you don't need to remove the oil pan skid plate to drain the oil (it has a nifty access plate over the plug) but you do need to remove it to remove the front left skid plate. you also don't need to remove the front right skid plate.
i recommend using the specific filter 'socket' for the filter case, as this makes removing it a breeze and a PITA without it. i think it was either 35 or 37 mm, but toyota sells it (and at the same price as the local parts store believe it or not!) the cartridge inside the case is replaced, along with new o-rings (supplied with the cartridge). i've been using NAPA gold filters.
so really, there is no magic to it; it is just that the LC doesn't use a traditional disposable filter canister. once you take it off though, you'll see it is no big deal.