Tacoma Prerunner 4cyl - How do I change transmission fluid

Have an 01 Prerunner, 2.7L with 190,000 miles on it.. running pretty good with no issues but think I should do some preventive maintaince on the tranny.

Could anyone guide me to how I change the transmission fluid. Should I buy a new filter and gasget, or what exactly does he need in addition to the fluid. I have gotten conflicting answers on other forums, PEP boys and Autozone.

Thanks

PS. Does my truck really have 3 belts?

 

Loosen the bolt on the transmission pan, let it drain. After it drains, fill it back up in the same hole. There's no filter, only a metal magnetic screen. You can also do a transmission flush but I believe that requires a professional vacuum.