Without a flush, you won't get all the fluid out. That being said, many owners do the pan drop and filter change even though they only get a bit over half the old fluid out. There are reasons for doing this rather than a flush. First and foremost is that a flush does nothing to the old filter. It is like changing motor oil and leaving the old filter on. As a transmission is used, the clutch plates and such accumulate particles which the transmission is used to running with. If you remove all the old fluid and these particles, it could cause the transmission to have issues. This is especially an issue with a transmission that hasn't had it's fluid changed for a long time (say over 100,000 miles). Therefore, many feel that more frequent pan drops and filter changes are the better way to go.
It is much easier for a shop to hook your truck up to a tranny flush machine, let it run and fill it back up and send you on your way with a $250 bill. You can do your own pan drop and filter for about $50 and have the satisfaction of knowing that it was done right.
Here is a how to for the 2007-2013 trucks on a pan drop and filter. I don't know how close it is to the newer trucks. The trick is getting enough clearance between the transmission and exhaust pipe to be able to drop the pan. It might be a bit better engineered on the newer trucks.
HOW TO - Pan Drop and Filter Change on GMT900 4x4 Six Speed
With your driving conditions, I think your owners manual states that you are good for about 100,000 miles. Either way you decide to go, I would probably do it sooner, so now is good. I personally do my pan drops and filters at about 40,000 mile intervals. I don't take my oil changes to the GM recommended interval either.