You can do a drain and refill by pulling the plug on the transmission, but you may only get 3-4 quarts of fluid out this way. Get some 3/4" o.d. tubing and pull the upper transmission cooler line out of the radiator, (car off). Check your transmission fluid level (let's assume its correct). Insert the tubing into the hole where the trans. line came out of on the radiator. You may need two people, hold the line in the radiator while someone starts the car. Take a milk jug or similar container and mark it in 2qt. increments. Let 2qts pump out of the car into the jug, shut the car off, add 2qts of new fluid, repeat until you are getting nice new red fluid coming out of the line. Depending on your car this may take 12-16 qts.
Assuming your fluid level was on the mark when you began, usually on the last pumpout I will pump out a little less than 2qts to account for what fluid is in the hose. Add 1qt of fluid this last time and check, you will most likely need to add some more, but you don't want to overfill. Drive the car a little piece and check the fluid again for the correct level.
Assuming your car has the automatic Aisin Warner transmission, only use JWS 3309 spec fluid in this car. People have said they have used other fluids with no problems, but personally I would not. You can obtain this fluid at the dealer (pricey), Mobil 1 JWS 3309 is available online and possibly at a retailer near you, and Toyota T-IV fluid is compliant and available for 5-6 bucks a quart at any Toyota dealer. The toyota fluid is what I use in my cars.
IPD makes a kit (I think) with the little green line retainer and hose (where the line goes into the radiator). This would be particularly handy if you are doing this alone, otherwise with standard 3/4 o.d. tubing it is best to have two people, because one of you will need to hold the hose in the hole as the car is running.
Two final thoughts, some people do a drain and refill before doing the flush, and if your car is a high mileage vehicle there are arguments that flushing stirs up nasties within the transmission. I have flushed some older high mileage RWD Volvos with no ill effects. Good luck.
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