Well, the job I've been dreading is now done - and it wasn't too bad.
But I reckon you'd struggle without a hoist or pit. The hardest part was getting the pan off - it was pretty much glued on by the original rubber sealant, but gave eventually. I was able to remove the sealant from the trans body by careful use of a razor blade, and from the pan with a wire brush without damaging the powder coating. A new cork gasket and filter set were obtained from Jaggraveyard in the US (thanks Andy) - I'm glad I did get the filter because I don't see how you could clean the gauze thoroughly - most of it is obscured. Luckily, the pan and magnets were fairly clean, although there was a very fine coating of black dust in it. Cleaned up fine, though. I used a small bead of Red Hermetite round the outer edge of the gasket on both sides, so that it couldn't ooze into the pan. I'm not saying this is an approved method, but I figured that it would be better than the gasket alone. Take care when tourquing up the filter and pan bolts - the lexls tutorial states the settings. Replacing the pan was a bit tricky in terms of locating it over the upper end of the dipstick tube, but it went eventually. Just be careful not to let any debris fall into the pan whilst you're manouvreing it into position. I then refilled with about 2l of T-IV, then disconnected the cooler pipe from the rad and plugged the free end with a bolt (just in case). The lexls tutorial is slightly misleading here, because it describes the hose union on the rad cooler as an inlet. That's wrong, it's an outlet! The drain hose I used was a bit too wide, even when clamped on, so some fluid squirted back up into the engine bay. But I got there eventually, about 1l at a time. I did have to stop about 100 yards down the road and put some more fluid in, but once the correct level was obtained all was OK!
If you're thinking of doing this job, I'd strongly suggest that you: 1. Allow plenty of time - it took me about 5 hours! 2. Don't attempt on the driveway. 3. Use only T-IV ATF, even if the Toyota main dealer claims that Dexron is OK and it's what they use. 10l did cost me £90 though - ouch!
Good luck...