If it really only has 39000 miles you can just drain the fluid and refill with the same exact amount of ATF as stated and you should be good for another 40,000+.
If you want to get even more fluid out to change as much as possible, after doing the drain and refill, you can pop one of the ATF cooler hoses going to the radiator, aim it into a bottle or drain pan, then turn the engine on until it pushes out a quart or so, refill with a quart of new ATF, and do that a few times until the fluid coming out is red and not brownish or dirty looking. Sometimes it only takes a few quarts so it can be a pretty effective way to change most of the fluid.
It can be a good idea to drop the pan so you can clean the sludge and film off the bottom of the pan, as well as the magnets. but not everyone wants to mess with the pan gasket and it can be slightly tricky to get back on correctly and you have to be careful to only snug the pan bolts, both so you don't get gasket leaks or strip the threads.
Dealerships tend to either just drain and refill, or sometimes they offer a "transmisson flush" which uses a machine to push the fluid out. This isn't a good idea and the method above of running the enging to push out the fluid then refilling is much easier on the transmisson and arguably more effective, but not a method dealerships use. Dealerships tend to charge a lot for just a simple fluid change so you're better off doing it yourself if you can.
Even if you only drain the fluid and refill every 30-40K, that's still keeping some new fluid in there which is better maintenance than most cars on the road get.
For what a dealer wants for a single ATF change, let alone a flush, you could buy several cases of ATF and the tools to do the work.