No it wonít void the warranty however, you should document the mileage, date and keep receipts for the products you purchase. If you have an issue that information can certainly be called into question.
I change mine in my driveway or in the street. If you buy a good size catch pan and use a big styrofoam cup (like a big gulp cup) when you remove the filter you should be able to do it without spilling any oil. Then you need a container into which you can pour the used oil. I use a 5 gallon plastic jug and a giant funnel. When my jug is nearly full I take it to a auto parts store, usually Auto Zone but they all take it. They recycle it and itís free.
Well youíre supposed to but I certainly have done it reusing the old one. Never had a problem using one again but Iíd nevertheless recommend you lay in a small supply from a ford dealer or from a parts store - though you might have to take an old one to the store to match.
Or you can buy a drain plug valve like I did. It screws in once then you just turn the valve for future oil changes. Costs about $35. Makes it easy and you can even attach a plastic hose to the valve so that you can drain directly into a jug.