2010 transaxle fluid change

I have a 2010 Prius and need to change the Transaxle fluid. I have the Haynes repair manual, but it only shows the drain and fill plugs for the Gen II. I have found what looks like the drain plugs but am not sure of it. Fill appears to be right next to the CV axle and the drain is streight down from the CV axle. Are these the correct fill and drain plugs?
Also, this transaxle seems to have a whine to it. Whines only at kind of a neutral throttle. Throttle pressure or backing off on the throttle reduces the whine. Is this normal or what?
Is 3.6 qts the proper amount for a change or do I pour it in until it starts dripping out the fill?
Thanks

 

Thanks for the video. Over the last half hour or so I've been looking at other threads about this. This video is a good one. Not sure where the whining is coming from. Hard to look under it while rolling down the road, and hard to do it on jack stands because there is no load. It is just that I've ridden in several other Prius's and there's does not whine. Mostly wondering if anyone else has experienced this and if so, what was it.

 

OK, so I changed the Transaxle fluid. Old stuff was BLACK!! and did not smell anything like the new WS fluid. I put in 4 qts and still did not flow out the fill port. Put it down and took it for a ride. The whine...while still there...has been reduced significantly. I am tempted to get another 4 qts and do another fluid change just to get ALL of the old black stuff out. So, when filling with fluid, do I put in just 3.6 qts as the manual says, or do I fill until it starts running out the fill port?
Thanks

 

I just found this at an Amsoil site. Apparently in order to drain and fill properly you must have the Toyota Transmission Fill System as discussed in Toyota Technical Service Bulletin TC010-07. Anyone familiar with this system and why it is different than just draining and filling?

 

Yes, only 37,800 mi.

 

Amsoil also states this:
RECOMMENDATION:
AMSOIL Synthetic Fuel Efficient Automatic Transmission Fluid is the appropriate fluid and an excellent replacement for the factory fill oil in Toyota transmissions requiring the WS specification. AMSOIL recommends consumers with transmissions requiring WS fluid bring a supply of AM- SOIL Fuel Efficient ATF to an approved transmission shop equipped with the Toyota Transmission Fill System.
It is also $11.50/qt. Hmmmm

 

JMD
Thanks very much. I'll make an appointment for sometime next week or first week of Dec.

 

Made an apt. for Dec 2nd at Toyota dealer.

 

Car was level. I put it up on four same size jack stands at lowest level. Then I put a level along the frame under the door. I took out about 3.4 qts.