[ngoma]

Yes I have done it, at approx. 170,000 miles.

The filter is just a coarse screen, it was spotless.

There was a little bit of sludge on the pan magnets.

While removing the pan allows some inspection (for sludge and other debris in the pan) there is some risk. As you mentioned, the dipstick tube connection can be rusted or otherwise stubborn and get damaged during removal. Also, the pan bolt clamps are slightly different depending on position, easy to get mixed up, and difficult to keep in position when tightening evenly.

First of all, you should verify the need for new fluid. What is the color of the current?

If warranted, I would lean towards a simpler fluid flush, using the cooler lines at the radiator for supply/discharge.