Hot or cold, you only get about 1/2 of the old fluid out due to the fluid in the torque converter. A flush or pushing it out through the transmission cooler line, while adding new fluid gets it all out.
When the trans or engine for that matter is hot/warm that means the contaiminates are in suspension in the fluid, if its cold they can settle out and not be completely drained out. Also if flows better hot letting more drain faster.
The only difference that i can possibly see between draining hot or cold is that you might get a little bit more fluid out of the trans draining it cold. Wouldn't the converter partially drain into the pan if you let the vehicle sit overnight?
I guess it would depend on how the pump is designed, etc.
It should be neither hot nor cold, but just in between. Test it by touching the transmission case with your elbow.
Next week: draining radiator: hot or cold?