I have not found this in any searches so thought I'd share here for anyone that has this on their to do list. I just couldn't see having to remove underbody components for a routine job, so this is what I did.
First I rounded up a 1.750" hole saw. I used this size hole so my Porsche required 16mm triple square tamper proof socket would fit.
Placed car on ramps and eyeballed the point for the pilot hole. Drilled small 3/16" hole and checked for plug center using a small screwdriver. Move and redrill pilot hole as necessary. With drill on slow speed bore hole in pan.
To prevent any mess while draining I cut the top 2 inches off an empty gallon milk container and shoved in below the trans with the mouth through the hole in the brace.
The Bit I used is 1/2" drive and fits up through the makeshift funnel with lots of room. Now just remove the drain plug and Voila done without removing any lower components. This way there is no potential alignment changes. Hope this helps.