It's not that hard, just have to have a big enough drain pan...
for the trans, just loosen the bolts around the pan a bit.. I would leave one on each side snug, then once you get the rest out, start on the ones furthest away from you, loosen them a bit at a time until the fluid starts to run off into the drain pan..
Careful, there's quite a bit of fluid in there.. It can be messy...
Once most of the fluid is out, take the remaining bolts completely out and take off the pan.
It's been a while, but I think the Taurus has a silicon gasket.. You may not need to replace it. Unless it's damaged.
You certainly can do it yourself, it's just potentially messy.