I did exactly what you're thinking of doing. It was the best upgrade I've ever done! I started out by going to the city to ask permission, see about permits, and hopefully see a plot that indicates where the existing line was located. I was surprised in all three questions: where I live, no permission or permit is required for adding an additional cleanout (considered a "minor plumbing repair"), and no plot exists that has sewer line information on private property. They could tell me where it most likely intersects with other lines in the street, but that's about it.
For the install, as a "do it yourself" project, finding the line was the hardest part. It would have cost between $125-$300 to locate the line with a service. I figured I'd try for a while before resorting to that, and did find it between an existing cleanout right next to the house and the probable intersection in the street. I cut the existing 4" PVC line, and used a directional flexible "T", and piped it up from there. The plumbing was a lot easier than I was expecting. Pics are in this set
here. Total cost was around $80, I believe.