Drain/refill is a partial change. Of course, if you want to do multiple drain/refills, you'll need to go for a 10 minute ride between refills to mix up the fluid. Diminishing returns.... 1st drain/refill gives you 50% new fluid, 2nd to 75%, 3rd 88%, and 4th to 94%... If you plan on doing more than 2, I would simply consider a cooler line flush.
Flushing is of course a bad idea from everyone I have asked about flushing a trans but my car now has ALMOST 40k on it &
Not a bad idea... its just internet hearsay from couch jocks and fools trying to rebuild a blown failed transmission with a fluid change. Also, many shops use non-lubricant damaging kerosene-type distillate flush chemicals which are also not good for your clutch materials, adhesives, seals, gaskets...
There is nothing wrong with doing a cooler line complete ATF exchange. Most shops are not competent enough to do this, or the drain/refill, or the fluid level check when completed. I doubt that many dealers know how to do a full exchange of the fluid either.
Most of the transmission particles are sucked up into the filter and slowly clogs it up.
The OE ATF filter doesn't catch much. It would need a complete transmission failure to even remotely clog. So, there really is no point in EVER changing the ATF filter. Usually, I change mine after 100k miles simply to have a new filter o-ring installed and for peace of mind. I backwashed plenty of ATF filters and really not much there. Same with the magnets....not an issue until you're over 100k. If you want real ATF filtration, then install an inline ATF filter. Aftermarket filters are available form Racor, B&M, PermaCool, Derale, Magnefine.... Magnefine is easiest intall and UOA particle data shows that it can filter out about 90% of what is missed by OE ATF filters.
Toyota transmissions have enough issues. If you plan on keeping the car for a long time and hand it down to the kids, then I would definitely do a drain/refill(or gallon cooler line pump out), every 30k-50k miles. I'd even upgrade to a full synthetic ATF from Ravenol, Amsoil, Redline, Torco, Castrol, Valvoline....
If you do drop the pan, add the 4-magnet upgrade that Toyota is using on their lemon 760 transmissions. And, don't forget that the 660 is still having worn valve body and failed case bearing issues. Definitely consider fresh fluid as often as you can afford it. Its the suspended particles in the fluid that the pathetic OE filter can't catch that wears about the VB bores, seals,.... And, the wear from the failed case/bearing simply passes thru the OE filter. So sad that some think that the OE filter catches much of anything.
Some don't have a drain plug. The pan plug is the 'overflow' check level plug. In order to drain from the pan, you can unscrew the tube in the pan after removing the check level plug. Cooler line disconnect pump out is easier and more efficient. Too many DIY'er will strip/break/forget about the check level tube.