Cost entails more than just the dollars spent.
The dealer or quick change place is going to use the cheapest bulk oil they can find for that $29.95 special. The dealer will hopefully use the Toyota OEM filter, but I've had Honda dealer service dept. use non-OEM filters, so there's no guarantee.
Not that I think there's anything wrong with regular dino oil, but with careful shopping, full synthetic can be had for not much more. So, for a 3rd party's cost, I'm running full synthetic instead of dino. Heck, you don't even know if they're putting in the right grade every time.
The time I spend at the dealer waiting for them to change the oil plus the drive to/from yields no other value to me. At home, while the oil's draining, I can do something much more rewarding like spend time with my son. And since I don't care how many changes I can do an hour, I can let it drain thoroughly. If you read any of the threads, you'll find most of us need more oil than listed in the manual to refill with an oil/filter change. As an extreme example, I use about 3/4 of a quart more on my wife's CR-V than is spec'd in manual...that thing takes forever to drain down to a slow drip; close to an hour the last change I did.
I had another car where the Samsonite gorilla service dude put the drain plug back in so tight that I broke my socket wrench mechanism trying to remove it on my next DIY service. I know I use a new crush washer on the drain plug every time...did the high school kid working for minimum wage?
I had a Honda Civic once that had an error in the manual, calling for more oil than needed, although there was a correct spec right on the oil fill cap itself. One service place I frequented, managed to overfill by a quart on several different changes until they wrote it down somewhere after I kept coming back to have them drain and fill the correct amount. Clearly they weren't checking the level after doing the fill..
Doing it without ramps or jack/stands will depend on your girth and flexibility. On my V8 4x4, one needs to drop the front skid plate to get to the filter. As a 40 yo in decent shape (5'10",185#), I could change if without ramps if I *had* to. However, even on ramps, I prefer to remove/install the skid while laying on the concrete instead of using the creeper...that couple of inches is so much more comfortable.
As you can tell, from time to time, for various reasons I've used dealers and other shops for my routine maintenance. Eventually, something happens that reinforces the old proverb, "if you want something done right, you have to do it yourself".
-Brent