Like the other poster said, its changeable. Here's an attached tech note on how this would be done at the dealership. Its little more complex than the kind of transmission with the dipstick. I have not done mine yet since I don't drive under extreme condition and no towing involve. For a piece of mind, I am going to do mine later this year.
Hope that helps.
Thanks for the document link. I will check out this fill and drain plug the next time I do an oil change on an '07 GX470.