For starters, remove the FILL plug first, just to make sure you can do it! It's harder to remove than the drain plug, and I'd hate to have someone drain the lubricant and have no way of refilling it! Use an antisieze compound on the plugs so the job is easier next time.
Do it hot.... it flows better and you can drain more of the crud out of there faster.
I find if I jack the car up there's enough room to use the regular bottle the lubricant came in for filling.
95 E320 Cabriolet, 131K