Where do you change the transmission fluid on a 1996 ford escort?
You'll likely have to remove the transmission pan. Perhaps it has a drain plug. Perhaps not. But either way if you change the fluid, you want to change the filter which is underneath the pan. Changing the fluid without changing the filter is not suggested.
All you can do in your driveway is drop the trans pan, replace the trans filter, replace the trans pan gasket, install pan (no gasket sealer needed or required!) and refill what fluid drained out in the process which is aprox half of the fluid the trans holds. Take it to a trans shop if you want a complete fluid change. They will have the equipment to do a trans flush.