I used to do a very similar job on a 2009 Corolla, the only difference being no undercover to remove.
The most important thing is to have the right oil-filter cap wrench. It's very hard to find a good one and Toyota doesn't actually sell one. I was lucky that I had found a good one years ago. It's the same cap wrench that fits on the most common Toyota spin-on filters, such as most pre-2008 Corollas.
The hard part of the job is to reach the filter cap without raising the car. It was a long stretch for the 2009 Corolla. You also need to remember to lubricate the O-ring. I never use a filter wrench to tighten spin-on filters -- always tighten by hand only -- and for cartridge filters, I use less than the recommended torque, which is too high. Also, I use a lot less than the recommended torque on the drain plug.
I never prefill or soak oil filters or cartridge caps -- messy and unnecessary.