The AISIN has a drain plug on it, just pull it and let it drain ( I did about 30+ min), then add the oil of your choice that meets the SPEC. Mobil 3309 is one, I used AMSOIL Signature ATF.
Sounds like you may be in the same boat I found myself in as your 19' should now be on its "second change". This happened to me because I missed the time component to the trans service.. ( It is 30k / 24mo ) which ever comes first on the drain interval. I plan to do mine again next year as its the second which is a fluid an filter change at 60k or 48mo and I will then hit the 48 mo interval at that time... Sucks to waste some ATF but it'll then get more of the OE fluid out and more AMSOIL in. It is a shame to dump fluid with very low miles on it just to hit the time component but it is what it is. To date, it is the only item I missed maintenance wise, IMHO the maintenance intervals on filters and fluids seem a bit excessive for those of us that do not use commercially, when I run my warranty out, I will not be changing $200 fuel filters annually with only 8k miles on them, it'll become bi-annual, but that's a way down the road... Good luck, its a easy service.