Brake flush is one of those fluids I feel I'm tossing out the best fluid I'll ever have. I say this because in the 100 series years ago I found my ~13 year old factory brake fluid looked like new coming out. That we can't buy what comes imported in the vehicle in USA. The brake fluid the Toyota Dealership parts carries is made by same company, but formulated differently due to EPA law.
Regardless I flush then bleed brakes if more than seven years in Colorado. Once factory fluid has been replaced, I flush every 2 - 3 years.
You'll see FSM states keep level above minimum line. Well that best for bleeding, but not when flushing from rear. But best in all cases to keep above min line when doing fronts. When I flush, I'll take reservoir very low, to near bottom as I can. Sure if I drain to much off I'll get air in system, which I'd rather not. But it's not that big a deal to bleed out.
I started flushing the way I show here years ago, before I had Mini VCI to tap into tech stream. It's work for without tech stream countless times just fine.
First is to prep brake pedal with a helper spring loaded pole (shower curtain rod) I use when nobody around to help out, to hold it down. I use the seat motor to press on my pole which rides on the brake pedal. In the 200 it necessary to active IG switch before depressing brake pedal or engine will start. If engine is run I can't hear the brake booster pump running, which I like to be able too.
Stock photo helper pole in a 100 series.
Once booster pump is activate it will stop running once accumulator full and pressure at factory preset point as read by pressure sensor.
I then remove bleeders rubber cap, and use a six side 10mm socket with small breaker bar (3/8" or 1/4" drive) to break the DS (LH) rear bleeder plug loose. Why left rear; it's close and rears don't require pumping the brake pedal, just hold pedal down. Once bleeder is broken loose I attach my clear hose running to a catch jar I made up years ago. The hose passes through lid and on inside of lid I pressed on a second large hose to act as a keep. This keeps hose from coming out of the jar.
Now I open bleeder (turn clockwise) with a 10mm flare nut or open end wrench, with my clear hose attached. The fluid will flow and pump runs as long as I have bleeder opened. I draw off about 1 qt, stopping after ~ 30 seconds to check level at reservoir. As level in reservoirs nears the bottom, I open bleeder for shorter duration, just a few seconds. I keep going up front and checking level in the reservoir while bleeder is closed. Also FSM does not like us running pump motor much more than 100 seconds. I'm not so concerned with running the booster motor, but I don't want to run pump while dry. In any case I run pump short bust and keep checking reservoir level each time I close bleeder. Pump will stop as long as air has not gotten in system once bleeders is closed any pressure builds, as sensor reads pressure at it's factory preset point. If for some reason booster pump motor didn't stop, like a leak or air in system. I'd release brake pedal and or turn IG off or disconnect battery. All will stop booster pump.
Some will ask "why not just suck out brake fluid from reservoir". Well it's very difficult to get a line in reservoir and I can only get out about half of fluid. Some use a pressurizing device, that fine I suppose (I've no such tool). I just use the booster pump to do work for me, works just fine.
I draw fluid down to near empty in reservoir, very careful to keep 3/8" or more of fluid in bottom.
This one was really low

about 3/8" from bottom, hard to see in pic.
Now with bleeder closed I release the pole from brake pedal, turn IG off and pump brake pedal until accumulator empties into reservoir. I know when it's empty as pedal pressure drops. This raise level in reservoir with old fluid from accumulator.
Now I'll double or more amount of fluid in reservoir by adding in my new brake fluid. This gives me ~50/50 mix of old with new.
Now I set up my brake pedal helper pole with key on again. This activates booster pump motor drawing in my 50/50 mix of old and new fluid into accumulator. I then go back to bleeder jar and bleed DS rear bleeder again and draw off just a little, lowering level in reservoir again.
I keep repeating draw down level into a empty jar, evacuating accumulator, adding fresh fluid until fluid runs clear. This take ~5 times to get a mix of about 97% fresh brake fluid.