I bought a new D/A in 2002. I used to drain the fluid every year and also change the spin-on filter at that time. And by drain, I mean just what would come out when I removed the drain bolt. My thinking was that if I do this every year it would satisfy the requirement for that complete change out. And it really is simple and easy to do. Just don't forget to re-use the magnet that's on the filter !
You might want to be cautious about doing the Jiffy-Lube thing. I seem to remember that using that method was a big no-no for some reason.
On edit - Just to be clear, I do not mean that I am not recommending Jiffy-Lube. Just stating that I remember the method of using that device to replace the trans fluid was not recommended.