It's very easy to drain and replace the filter, can be messy yes, but still easy. The 4R70W has a drain plug in the torque converter, which holds a gallon of ATF. I suggest draining that and the filter, which should take about ten quarts. There will be 2-3 left up inside the trans, which only come out when the VB is loosened. The pan gasket can last forever, it's steel and rubber.
It takes turning the crank some to locate the TC drain plug, which is a 10mm plug IIRC, accessible at the bottom with the rubber cover plug removed. That's simple to do and you get a gallon out.
To drain the pan, remove all but the corner bolts, after having two large "pans" under it. What you drain it into ought to be bigger than the trans pan, say 16x22" or more. Get one of the common steel drip pans from a parts store, they are about 2'x3' and work great for laying various bolts etc onto, around the drain pan.
With just the corner bolts left, loosen the rear two about 1/8", barely loosen the front two, and then gently pry a rear corner of the pan down. You only want a little crack for fluid to come out, let it drain a few seconds. Then loosen the rear two most of the way, then the front most of the way. Then there is not much dripping from the trans into the pan. By hand, push the pan up, hold it, remove the rear bolts. Gently lower the pan rear, but not stressing the front bolts. Then push/hold the pan up again, remove the front bolts, and gently lower the pan evenly, setting it aside, with probably under two quarts left in it. Your hands and forearms will get wet, but do it slowly without slipping, and the fluid will be mostly in the drain pan.
I should video tape myself doing this some day. I've drained a trans enough times, that there is no need to drill and install a drain plug. It's not that big of a deal.
Service the trans, and rear diff, and see if the sounds and feel improve.