I've got an RTS and did my first oil change at around 3000 to put her in storage.
It was NOT enjoyable (laughs). Pretty well the whole left side has to be taken down. But once that's done, you basically pull one plug (main oil I think), drain. Pull the transmission plug (again, unsure if I remember the order correctly). Pull the filters. Let drain some more. Replace filters. Replace plugs. Fill. Mfr recommends changing both every oil change.
Oil changes are at 600, 3000, and every three thousand after that. I went full synthetic 5W-30 or 40. Can't remember.
If I had to do it over again, I would order everything on line. Save some money. But I was in a rush to get it done, as the RTS had to get into storage mode pretty quickly.
For my hassle, I'll buy all the parts and oil and take it to the dealer next time. I just don't have the patience for doing it, but like I said, I was in a bind to get it done before I left. Definitely something a DIYer can do though.
Hope this helps.