Ed & Keith,
I changed the hydraulic fluid and filter using Dexron III in my coach on a 4 to 5 year cycle until the last time that I changed it. The last time I changed the fluid, I used Allison TranSynd instead of Dexron III because of its better lubricating properties and longer service life.
As for draining the hydraulic tank, just remove the filter and you have created about a 3/4 inch diameter drain that will empty the tank quickly. So if you want to change the filter without draining the entire tank, you had better be lighting fast.
Gerald