Explain how to change the trans fluid on my auto trans 2006 tacoma.

Yep that's how it is done, dont know about the price but the OEM fluid is a must! (Install a 'new' filter)

let the transmisson shop servlce it ..it is not worth the hassle.. you could screw up and have a trans fluid leak'it is really easy to do and its extremely messy job without a lift and drain pan..