one of the hoses is a return line, you could take that off... add a section, using some micky-mouse type fitting, coupler, use the extended hose, run that into a medium size can, or bucket.. and have somone pour new fluid in the pump resivour while you let it pump the fluid into the bucket... but it will have to be coordinated so you don't run it dry, it wil pump it very fast..
actually, you can pull the hose... let the fluid drain.... (engine off). Then pour new fluid in,,, and startt eh engine,, and with the wheels on jackstands tunr the wheel full left and right to purge the air out (if any air) and top it off to wherever the top mark is for the ful line.
This last procedure is the actual procedure in the manual for bleeding air.
Since it's so hard to get to parts in this car,,,, I would suggest you use the bleeders (they are ont he rack steering unti close to where the column and steel lines and hoses connect to the rack. But, if that's to difficult, the try the host connects at the pump.
I suggest you buy line wrenches. They are like open box end wrenches for the bolt on steel fuel and pump lines. They slip over the line but still have 6 pioints to lock around the nuts on lines. They will serve you a lifetime and prevent you from having to use open end wrenches which can round corners.
I would also suggest you ask someone with more experince on pumps ... I have done mine, but there are others here with much more experince with Toyota pumps... maybe they have a better procedure...