A very streamlined process. From baggage claim in terminal 1 you exit door 10, cross a road and there were multiple busses waiting to take people to the center. All car agencies are in the one center. The lines were moving slowly but there is a kiosk available - at least with Enterprise - to the right of the queue. The gas option where you prepay for a full tank and then can return it empty was a good deal at $3.55; I saw gas later on in the city for $3.75. Once you complete at the kiosk/counter you take a short escalator ride downstairs to the garage. You walk to your selected companies location and there an employee (at least with Enterprise) walks you to car and you sign the contract. The process was a bit odd it seemed because the kiosk asked me nothing about insurance - the lady downstairs asked about that after I had already agreed on the kiosk to the payment amount.
Return of the car was easy. The city has signs up as you get near so you know where to go. I pulled my car into one of Enterprise's three return lanes and was checked in and given a receipt in fewer than 5 minutes. You can ride the free shuttle back 7 minutes to the airport. I don't rent a car often but from when I have I can say this is one of the better set ups.