I personally prefer the pedal pump method as it offers more control of the whole process. I do have a pressure bleeder, but always had the fear of blowing a hose off the upper / lower cylinder and jetting brake fluid down into the front panel.
Different strokes for different folks I guess.
I would tend to syringe the fluid out of the upper cylinder, and then try to bleed the master cylinder down to a level where there is only just fluid in the front and rear sections. Then top up with fresh and bleed until good clear fluid is seen at each bleed nipple, starting from the furthest away from the master cylinder.
You will never truly get all the old fluid out unless you were replacing every component for new, but as long as everything is well flushed through with new fluid, you shouldn’t have any probs if replacing every couple of years.
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