Q: How complicated should changing manual transmission oil be?

Hi. As you would know the idea of a dipstick or level-checking utility is often not available for manual transmissions. I am hoping there is no problem and I don't want to bring in complications, but I am pretty sure my car did not get the transmission fluid changed since the original leasing owner and the 9 years we've had it. Mileage is not high. It just makes sense that contamination with gearbox components (metal shavings) could cause gradual wear. When I was under the car to do an oil change, I noticed that identifying the transmission was that much harder than in an automatic car. How would manual tranmission fluid be changed (hypoid gear oil 75W-90)? I am pretty sure it can't all be flushed out if you don't have the special equipment of a shop and a lift. But I am stuck wondering how maybe bolts from part of the bell housing have to be undone when under the car, and even then where is the fill-up port? I also have hard time getting into gear 1 when car is rolling fairly slowing in neutral. i never force the lever; i just keep redoing different shift patterns and when the car is eventually stationary it will go into place. Thank you

My car has 35000 miles.
My car has a manual transmission.