Some model did have drain plugs - I'd just as well remove the pan and have a look see under there. On models without a plug - you could put in a drain plug - but you would have to weld on a bung to have enough threads to hold a plug.
It is possible to do the flush at home - but it is not easy. Many have removed the transmission cooling line and used the transmission to pump the old oil out while simultaneously filling the system with fresh fluid. The dealer and transmission places use a machine to suck or blow the oil fluid out. The "blower" varieties have a bad reputation to cause problems later because they use compressed air to blow the oil fluid out. My folks had this done on their Camry and the oil took on a gray color due to the metal shaving beening agitated by the air. Took three full transmission drains to get those particles out.
Should you flush - all summed up here in a typical advertisement for auto shops:
http://www.asedeals.com/transmission_flusher.html
"RT-15X Automatic Transmission Service Machine ... Although not required for typical services, additional profits can be made by offering full service cleaning instead of just fluid replacement."
Good Luck.