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This has always been how I service my trans. Not sure about the Tundra, but on my old Isuzu and F-150, draining the fluid got about 75% of the old stuff out. I would drain and refill every 20-30K miles, getting the majority of the dirty fluid out. I don't like the idea of a flush because it FORCES fluid and any dirt or metal flakes into tight passages. I like a drain because it involves less pressure inside the trans.Not to go too far off topic here, but a change as in just pulling the plug and refilling
will only remove about 1/4 of the fluid. Some people who don't do flushes will change
their fluid several times a year going on the premise that they will have pretty much
replaced the old fluid over the course of several months without doing a flush.
John