MVS Volvo Forums Contributor Jimmy57 and others discuss how to get transmission fluid out of 2001-2007 V70 and XC70, and other P2 type Volvos.
If you have no way to put car up on stands or on ramps then you could suck it out through dipstick. I have had these transmissions apart and the dipstick is a straight path to bottom of trans. IF you use suction then the front of the car being even 2 inches lower than rear (rear tires run up on two 2×4 pieces) would let fluid run to the front where the dipstick is located for a more complete capture.
Get 4 quarts. IT will take 3 1/2 more or less. I would put 3 1/2 in and then run it and check it.
The funnel needs to be 1/2 OD on end or it will not go into the dipstick tube. I have a funnel with a 8 inch length of 1/2 OD clear vinyl tubing that I use for these. The tubing can be pushed down through a funnel and will seal.