Acura's maintenance procedure for the transmission 14 and 15 models is a single drain and fill with 3.3 quarts. You don't necessarily have to do a drain and fill 3 times, but it's not a bad idea and shows that you're already thinking ahead. If you're planning to do a 3x3, I would at least get that 10th quart so that you can top off the fluid when checking the level after the final fill.
If you've ever done an oil change, I would say that a drain and fill is comparable in terms of difficulty; it's not hard. Here's a DIY thread I posted about changing the transmission fluid:
http://www.mdxers.org/forums/94-thi...nsfer-case-fluid-change-2014-2015-models.html
In my experience, the hardest part of the job is breaking the drain plug loose. Sometimes they seem to be fastened on there super tight from the factory. A warmed up transmission and long handled wrench make it easier to get it loose.
If you're not well versed on the proper ways to raise and secure a vehicle, I'd recommend that you do some reading on the topic. I do understand being nervous about crawling under a 2+ ton vehicle that's up off the ground. Provided that you take all the proper precautions, the risk of getting crushed by the car should be quite low.
By the way, the six speed transmissions in the 14 and 15 models do have an external filter that can be changed if so desired. However, the filter change isn't included in the transmission maintenance prodedures. I think that most Honda and Acura service advisors don't even know about it.