Not sure on 6th gens. On 5th gens the drain bolt is right near passenger tire. It may be a bitch to get off, just to worn you. It's not difficult at all, and is pretty much like changing your oil.

Don't expect anything huge from it: my car started to go into gear fairly jerky, now it goes in smooth. Shifting is a bit crisper but it may just be my mind. If it has never been done before you may want to talk to a tech at your Honda dealer about if you should or not.

I put in just above 2.5 quarts ('97 accord i4) and I am just at the middle part of the dipstick "safety zone).

Also if the service guy did not give you a new crush gasket for your drain bolt go back and get it. You'll need it