There is no way to remove all the oil without removing the engine, since the MR-1 engine is a dry sump with no oil pan. If you get it good and hot you may be able to remove 2.5 quarts via suction out of the oil tank (which is about 1/2 of the total). Basically, you just have to keep changing the oil over and over until you don't see the milky look. It may take 5-6 or even more oil changes. The oil that comes out with the filter is from the filter, so you don't get any more out other than what is in the filter that way. I do recommend replacing the filter when you are all through.
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2008 Yamaha FX HO Cruiser
2010 Hurricane Sundeck 2100
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