No. Draining the oil and running the transmission through the gears to get more oil out is likely to damage your transmission. You should never run a transmission without oil. You will burn up clutches and end up with internal leaks.

When dropping the pan, you will only drain 2.5 liters. Whereas, the full transmission capacity is 6.1 liters. Therefore, you will not get 99% out as you already know.

The only way to get the remaining fluid out is to open the transmission relays with a scan tool and push the fluid out with a fluid exchanger.