Trans fluid change

I've been reading the threads regarding trans fluid level checks and fluid change. How can I check the level? I'm not sure I can crawl under without it being on jacks, and how safe is it to start it when on jack stands? I do not have access to a lift, should I just leave this to a shop?
If you do a fluid flush, the level should be correct, right? Or do I need to check the level even after a flush?
TIA,
Steve

I have done it in the driveway, but I'm skinny. It's easier when I park the Rodeo straddling the swale in the front yard.