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Drain and refill will be OK, but not hard to do a decent flush.
Flush the system with distilled water - pretty easy to do. Just drain the coolant, refill with distilled water, run it a bit. Let it cool down, repeat until the water runs clear. Refill half the total capacity with straight coolant, top off the rest with distilled - perfect 50/50 mix. Stick with Toyota Red coolant (straight coolant), the pink stuff is premixed.
After you are done, flush the coolant reservoir about 1/2 way with a 50/50 mix. Drive normally, as the system "burbs" the air out, it will draw in additional coolant automatically. Just top off the coolant reservoir tank as needed and you'll be good to go.
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2002 Corolla S, 1.8L 1ZZ-FE VVT-i
2003 Matrix XRS, 1.8L 2ZZ-GE, VVTL-i (RIP)
2009 Matrix XRS, 2.4L 2AZ-FE VVT-i
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