There are a few places that you can access the output from the pump. At the engine the fuel line connects at the right rear. There is also a Schrader valve on the fuel rail about mid-way on the right side.
1999 cable throttle engine pictured, but right side of the fuel rail is the same on a 2002.
The 2002 and later cars have the fuel pressure regulator integrated into the sending unit in the tank, so there is no return line on yours.
The fuel filter is in the middle on the car in the tunnel with the radiator hoses. You will need to remove the plastic belly panel to access it, but it is not hard to disconnect and flow fuel from it. Picture from this article:
https://www.pelicanparts.com/techarticles/Boxster_Tech/04-BASICS-Fuel_Filter/04-BASICS-Fuel_Filter.htm
The fuel sender and pump are located under the battery. I have drained fuel tanks by directly connecting a hose to the output and powering the connector with 12V. This article discusses replacing the fuel pump and has some good pictures:
https://www.pelicanparts.com/techarticles/Boxster_Tech/22-FUEL-Fuel_Pump/22-FUEL-Fuel_Pump.htm
In one case I had a good pump, but the hoses in the tank had become brittle and crumbled so the fuel was going nowhere.