I've never made a big deal of getting all the coolant out, but if it is easy and convenient then it is the best way. I also don't worry about "flushing" the system if the coolant and what you can see of the radiator core looks good. I've had immaculate cooling systems in vehicles where only half the coolant was changed at a time. If I could change only half the coolant easily, I'd change it twice as often as recommended. I've always stuck to factory spec coolants to prevent mixing or incompatibility issues. I use distilled water for coolant concentrate.
My opinion a complete change would be necessary if the coolant were degraded, rusty or non existent. Most later model stuff that isn't the case.