I've had mostly success with using the dipstick tube and 4/6mm tube to extract the oil. The trick tends to be to stop when you feel light resistance on the tube, and not keep pushing as it will inevitably just fold up inside the sump and either kink, or start curling back up the other side. You can get a good idea of how far you can go with the length of the dipstick itself, and you're likely to be another 4" or so longer than the dipstick.
One thing that's easy to do, is look at the general amount of oil it should hold, and measure what you take out. I really wouldn't be in the slightest bit bothered if you left 5% of the old oil in as you're always going to leave a bit anyway coated to everything anyway.
If it's the difference between a half an hour job and getting most out, or saying sod it and not bothering as you can't be bothered taking all the undertrays off to do it fully, then I know what I'd do.
Dedicated oil pickup tubes are rarely suitable for anything to be pushed down into them, and you're better attaching directly to the top as designed.