Capacity is 2.1 quarts (2.0 liters) according to the specs. I haven't done mine yet so I will be watching this thread with interest.
I have done both the inverter coolant and engine coolant. IIRC the amount of coolant for the inverter loop was pretty close to the spec amount. I pulled a vacuum on my coolant loops to avoid air bubbles so did not have this problem. Patrick Wong has an excellent thread on here about changing coolant and how to work out the entrained air. Try searching on here for his thread.
Yes, I've done it before. The drain plug is a 10mm hex, and you'll need just over 2 qt of Toyota SLLC. In order to reach the plug, you will need to remove the undercover. Fill the inverter with as much coolant as possible, then turn the power on for about 1-2 sec and power off immediately. Top off the reservoir, as it will be very low. Repeat this two more times. After this phase, start the car and allow it to sit for about 10 min to ensure that the level no longer drops. The Gen III lacks a bleed valve, unlike the Gen 2. The system on the Gen 3 is also very quick and easy to bleed. I changed out my inverter coolant at 59k. iPhone ?