The first time I emptied fluid from my TL AWD, I undid the sump magnetic drain plug on the passengers side.
From memory, I drained 4.7 litres of fluid, which at the time I measured very carefully.
There would be additional fluid drain from undoing the radiator coolant tank hoses.
The "5.5L" figure that you mentioned would be very close to being accurate.
I was quite happy at the time to see that there were no sections of wave spring on the magnetic sump plug.
There was not even the tiniest amount of metallic "fur" attached to the plug.
Bonus.
The transmission behaved perfectly then, 4 years ago(160,000km), and after a few more drain & fills(all using genuine Mitsubishi SP111 ATF), plus a comprehensive fluid change at MitsFix 12 months ago(190,000km - they used Castrol Multivehicle full synthetic ATF), it is still perfect now(201,000km).
Happy Days.




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