Best way to change out transmission fluid

I need to have the transmission fluid replaced in my 2002 kia sedona. I have done some looking around my area and it seems i can either have the transmission flushed for around $80-90 dollars or take it to a transmission shop, have the pan dropped and have it done that way. The owners manual AND dealership recomend a flush over a pan drop. A pan drop, filter change and such has priced out at around $120 plus the money i will lose for taking a day off work because none of the trans places around me are open on Saturday, while I can have the flush done on a Saturday. So, is it that much better and worth the additional cost and lost wages to go with a pan drop over a transmission flush or will a transmission flush do the job? Ideally,I like to do both at the same time if the fluid is fairly dirty/discolored...but...if the fluid is relatively clean, you could change the filter/pan gasket and just top it off with whatever it takes....if you change the filter often enough(pan drop).....you'll be replacing enough fluid then to keep it pretty clean, so you can do without the flush or Car Repair Talk's forum.