"The best removal tools are a chain loop with a boss on them to fasten to a socket bar."
These types of set-ups work well and have the added ability of being adjustable.
However, if you get an end-cap tool that fits your filter perfectly, thos are pretty tough to beat. Their problem is that they require a close fit and you need quite a collection of them to do a fleet of different vehicles.
"Put a film of grease on the rubber seal of the new filter to aid removing next time."
Most filter manufacturers specifically say to
not use grease ... but to use the thin film of motor oil on the gasket as well as being
sure to clean off the gasket-mating surface.