How to exchange heroes in Dota 2?

I’ve been struggling with how to exchange heroes in Dota 2. I often end up with a hero I’m not comfortable playing, which affects my contribution to the team. I know others can swap heroes, but I’m not sure how this process works. This leaves me at a disadvantage, especially when it’s crucial to have the right hero for my role in the game. I really need help in understanding how to perform hero exchanges efficiently.