Draining the radiator and recovery tank will get most of the coolant, but there will still be a lot left in the heater core and water jackets in the engine block.
I haven't done it on my Commander, but I have done it many times in other vehicles. Just pulling the lower radiator hose away from the radiator can release a lot of trapped fluid. Pulling one heater hose and blowing in it will get a lot of the heater core coolant to drain, works even better if you have compressed air. Pulling the plug in the block at the bottom of the water jacket will get the last of the trapped coolant. Some of the newer engine have better designs that don't trap any coolant in the water jackets, if thats the case, there won't be drain plugs at the base of the block.
Zerex G-05 is the aftermarket equivalent of the Chrysler HOAT fluid. Do NOT use the Prestone All Makes, All Models, mixes with all colors anti-freeze. Its a derivative of DexCool, its been out there for a couple of years now, I'm surprised we haven't been hearing horror stories about it.