If you have never changed the coolant (it has a 2-3 year life), then you might drain it, fill it with straight distilled water, run it till hot, let it cool, and drain. Do this a couple of times until the water comes out clear.
Otherwise, a like for like coolant, the Toyota Red Longlife coolant and distilled water, with normal change intervals, would not need a flush. Drain and fill back up with new. Use the block drains to make sure all of the old is replaced with new.
No need to remove a hose. Although you might want to replace the hoses if you have 80k miles on them.
Take the cap off the radiator, drain at the petcock on the bottom of the radiator. Drain at two places off the engine block. These three drains will let you drain the entire capacity of the system. (Make sure your heater temperature knob is turned over to max. heat to open up the heater core.)
I like to flush the system by removing the stat, opening the petcock, and while the engine's running add distilled water. Took about 3-4 gallons for it to come out clear. Now you'll have all water in the system. Let the engine cool for 10 minutes and open petcock to drain as much as possible, add about 60% of cooling system capacity w/straight coolant and top-off w/distilled water. Just watch out for the fan.