What I did when pumping out my rear axle fluid was buy a drill powered pump from Harbor Frieght or other places. Then took a washing machine hose and cut it in half, so I would have a inlet and outlet hose that attached to the pump.
Removed the plug, it smells! Pumped out what I could pump out, then put back the recommended fluid for the truck I had at the time. I think it was about 1.5 gallons on my 1975 F-350 with Dana rear axle. Some of the fluid will be inside each axle tube, so if one side is up higher than the other while in your work area, you might consider letting it drain for a 1/2 hour or so, then lift the other side of the axle to about 2" above the center of the axle, to let that side drain, let it sit for 1/2 hour, and you might be able to pump out another quart or two of the older fluid that sits in the axle tubes.
If you are using synthetic, you should not need to change it again for a really long time.
Good luck!
Fred.