There is also an engine block drain that's easily visible if you look through the right front wheel well and pull the rubber splash shield slightly aside.. It's is easily opened if you use a 12" long extension on the proper size socket..

The block drain even has a place to put a rubber hose on it to drain into a bucket, etc..

I change mine every two years... and use only the Toyota red coolant. I realize others may be just fine, but I don't want to take any chances on head gasket corrosion and possible failure.

The 3.4 V6 is absolutely the easiest engine I've ever changed the antifreeze on e.g. no problems with trapped air and having the "burp" the system to get it completely full.