To OP, I am not really a beginner when it comes working on cars (have done Head Gaskets, timing cover gaskets replacements, timing belts, alternators, water pumps, brakes, suspension work on my and my family vehicles in the past… LOL), however, I actually just did my first ever power string fluid change on my 4Runner, so from that stand point I am a beginner just like you.
No special tools at all, lifted the front enough to remove weight from the front wheels. Removed the return line from the power steering reservoir, plugged the reservoir with a rubber plug I had laying in garage (I have heard people are using ear plug to do the same). Used a small size (8 or 12 oz. I think) water bottle, squeezed it in the engine compartment just to the right and below the power steering reservoir and inserted the return line into that bottle.
With engine off, key in accessory position, I added power steering fluid (I used Valvoline MaxLife Multi-Vehicle Synthetic ATF)) into reservoir until it is full and proceeded with slowly turning steering wheel (left -right \ lock to lock) until reservoir is close to the low level (Important: do not let it go to empty, or you will suck air into the system).
Repeated that process: slowly turning steering wheel from side to side, adding power steering into reservoir, and emptying old fluid from the water bottle as needed.
In my case it took just under 2 quarts of fluid to see new\clean ATF coming from return line into water bottle.
Connected the return line back, topped off the reservoir, lowered the 4Runner, started the engine, and checked for leaks.
Hope that helps!