Like I mentioned before, there is a drain hole, but you can drop the pan. Not 100% sure, but dropping the pan will involve removing something else. I'll check back. If you drop the pan (and go through all the trouble, you can replace the "filter" (metal strainer). Also dropping the pan you can get more ATF out. Most use the drain hole.
Photos Courtesy: [MENTION=22558]CJ3Flyr[/MENTION]
[IMGhttp://i266.photobucket.com/albums/ii246/CJ3Flyr/DSCF0043.jpg[/IMG]
[IMGhttp://i266.photobucket.com/albums/ii246/CJ3Flyr/DSCF0045-1.jpg[/IMG]
Even if you do it through the lines, the amount of the antishudder is very small. I would think the only way is through the fill hole.
If only draining, I thought I saw 2-3 quarts. If you use the "line method", expect more (12 quarts). See pic:
Photo Courtesy: [MENTION=56345]thirstyturtle[/MENTION]
[IMGhttp://i70.photobucket.com/albums/i113/ThirstyTurtle/IMAG0325.jpg[/IMG]
Good thread on how to drain/fill tranny on 4th gen:
http://www.toyota-4runner.org/maint...ission-fluid-servicing-sealed-non-sealed.html
hope this helps!