Just did mine yesterday and I found the easiest place to remove a rubber hose is on the radiator when ATF leaves it before going into the ATF cooler at the front. I tried 3 different connections at the front before the ATF cooler, near the coolant overflow tank and as
@agaisin used in the OP. None of them allowed to use adjustable pliers to make the rubber hose loose and it was much easier by the radiator. Just make sure to wrap the rubber hose into a paper towel multiple layers to prevent the hose from damage.
P.S. The old fluid was absolutely black

There was no red color left whatsoever. It did not smell bad but looked like used engine oil. It looks like it was never replaced in the lifetime of the vehicle even it had several owners in the past. I'm glad I did change it

This is the second time I did full ATF replacement (I did it on my 2008 Toyota 4Runner V8 couple years ago).