There is a drain plug, and there are transmission cooler lines. Any shop can do a fluid exchange - but I'd supply enough Matic S fluid (probably around 15 quarts) to do a thorough fluid exchange. You can also get the fluid and do the exchange yourself, it's quite simple.
1. Find and disconnect the transmission cooler return line and secure it in a collection bucket such as a clear gallon jug. It is most likely the passenger's side line. To be sure, you can drive around for a while and feel both hoses - whichever is cooler will be the return line.
2. Have a helper start the car while you watch the bucket - once it's half full (2 quarts), yell for the helper to stop the engine.
3. Add 2 quarts of ATF through the transmission dipstick.
4. Drain collection jug into larger jug (i.e. a
Disposoil - these only hold 10 quarts though in my experience, so have something else to hold the last 5 quarts).
5. Repeat steps 2-4 until you're out of ATF.
6. Check fluid for proper level (see
MA-39 for details), and recycle old ATF. Any place that takes used oil will recycle ATF.
This is a slight variation on the procedure listed in the factory service manual (FSM says to disconnect a line and continually put new fluid through the dipstick with the engine idling while it's draining), but I think this method has less of a chance to get an incorrect fluid level once you're out of ATF.
I would also highly recommend the installation of an in-line transmission filter such as a
Magnefine, as the in-pan filter doesn't filter below 80 microns or so, while the Magnefine filters somewhere around 35 microns and has a magnet to catch ferrous material, which makes it more efficient than its filtering media efficiency would otherwise indicate. A transmission generates 75% of contaminants within the first 5k miles of its life due to break-in and left over manufacturing debris, so it's good that you're exchanging the fluid relatively early at 28k miles. See
here for a Magnefine in use for 28,000 miles on a '97 Caravan.