The 6F35 is now in several different models. There are several videos on the drain & fill procedure, as well as the written procedure; all available online. I'll share my homework.
When I did mine, the vent cap was on top of the transmission, right under the radiator hose. I found it with a flashlight, reached under the hose with my fingers, and the cap lifted straight up and out. A transmission funnel, slid right down into the vent hole for easy filling.
The fill is 4 liters, which is 135.256 ounces. I added 4 quarts, which is 128 ounces, + 7 ounces.
For me, it was just as easy as an oil change. I bought 3 gallon containers, + 1 quart for the final fill. You can pour out 3 - 4 ounces from each of the first 2 gallons. Use Ford MotorCraft Mercon LV, or whatever fluid you feel comfortable with. There are other brands of Low Viscosity fluid. Some specifically say on the bottle that it is for Mercon V. Some people will want a licensed product. Some people use a multi-vehicle ATF, which they feel good about.
My funnel was the type with a long tube attached.
Drain plug is 7/16" SAE or 11 mm. I used a socket with a ratchet handle, and it removed easily. No breaker bar needed, like the first time you change the engine oil. Fill plug on side of transmission is also available.
Fill plug is 14 mm or 9/16" SAE. Some people will pump fluid in from fill plug. Some people will follow service manual procedure: add fluid from dipstick tube or vent cap until it begins to come out of fill port.
The dealership uses a fluid exchange machine which allows the transmission to pump contaminated fluid out the cooling line, and feeds fresh fluid back into the return line If you shop around, you will find that some independent mechanics, as well as lube shops, have transmission fluid exchange machines. Transmission is a 9 quart total fill. Performing a triple drain & fill uses 12 quarts + 7 ounces top off. 3X drain & fill is in the service manual and considered to be adequate, but does not mathematically replace 100% of contaminated fluid with fresh fluid. Some choose to only drain and fill once, which dilutes the contaminated fluid. You will decide for yourself whether you want a dealership to do it, an independent mechanic to do it.
There is a screen inside of the transmission. The only way to access this screen to change it, is to remove the transmission and open the case. At such point that the filter is clogged, most 6F35 transmissions have failed. A new screen will be a part of the rebuild.