Disconnect the fuel line and run the pump.
I do not know how Toyotas work, but when I had the change the gas tank skid plate on my Jeep Wrangler this procedure did not work. If the pump does not detect pressure build up after about 5 second the pump shuts off. I think it is a safety thing if a car is in an accident it will not let it keep adding fuel to the fire. I ended up removing the tank vent line and siphoned out the gas.
I could not get a siphon hose to work going down through the gas filler tube.
Why do you need to drain the tank? At work I actually leave them filled up unless I am replacing it with a new unit.
I believe the Toyotas will in fact shut off after a lack of pressure, I could be wrong; but I vaugely remember having to wrestle with that issue.
Worst case I would just use the vent like was suggested.