Its pretty easy actually.
The two specialized tools you need are a T70 torx bit (i think this varies by year), and a fluid hand-pump and/or some tubing will make things easier.
On the trans, there are actually two drains. One's the big ole T70, and then theres a smaller "pan" behind it with another drain. The fill is on the case, below the IC on the passenger side. I measured out my fluid (I got a 5 gal jug of Extra-S) and used the hand-pump to transfer it over. The tube helps you get it in without spilling it everywhere, but a tube on the bottom of a funnel will probably work just as well.
The rear is just a drain and a fill hole on the back of the car. You probably dont even need to jack it. In fact, to keep it level I think you're NOT supposed to jack it up. Anyways, as a trick, remove the fill plug first. That way if there are any problems, you've got diff fluid in there. Anyways, then just drain, and fill. IIRC the fill level is just until it dribbles out of the fill hole with the car level. Again, a hand pump is useful, but a tube is pretty much required.