When I saw the title of this post I thought to myself: "STEP 1, Get the filler plug out first, make sure you can get oil back in before you drain any out"
Since you are already past that step

, I'd go with Bob's recommendation. Filling from the top is so much easier than filling with a hand pump in that dumb side hole.
For getting that fill plug out, before it is stripped I recommend getting a six point socket that fits it right (22mm?) and a nice long flex handle/breaker bar. As you know, it is tight in there and likes to strip off the head. After it is stripped, the biggest dang pipe wrench you can get under the truck with, or grind/file two flat parallel sides on the remains of the plug and get the biggest crescent wrench you can find (a 24 incher works wonders) and turn it out. It is not uncommon on a LUV for that fill plug to be buggered up when you get it, and also pretty typical for it to have been in there for at least 3-4X the recommended service interval on the trans fluid.
Just another FYI to everyone, same step 1 goes for the diffs, make sure the fill plug comes out before you drain it. Probably even more critical there as you don't have much for other options to refill it like on the trans.
_________________
95 Isuzu Trooper Daily Driver
86 Isuzu Trooper reliable backup
77 LUV 2wd stock beltway blaster (resting)
79 4x4 LUV project: 2.6L, 5spd, 31s (eventually)
MEPR: Man, my 4x4 makes all other LUVs look good
