Just pulled the drain plug on my 2010 Rav4 Sport yesterday. Second time this service has been performed, first time was last year.
Fluid came out black again, not as bad as the first drain.
I will keep doing it once a year until the fluid color improves.
After draining the pan only using the drain plug, not dropping the pan, I only managed to get out 2.5 quarts of fluid.
At the previous service I dropped the pan to replace the filter, and cleaned the magnets.
Nothing was that bad, but I did get nearly 4 quarts of fluid.
Maxlife ATF went in (2.5 quarts exactly). Vehicle shifts fine. Vehicle now has 93k miles.