Just drained and replaced my filter on the 400, and my fluid was foul smelling. No trash in the pan, though.
Not sure whether this is kosher or not, but I know many do it. Just get a long screwdriver, and using the slots in the trans, with a prying motion, bump the t-c around until the drain plug is in position. There isn't a special tool for this.
1985 300TD 4-speed 212K
1992 400E 343K
2001 E320 72K