I believe the service manual originally called for 3 quarts with a filter change and this was later revised to 4 quarts. When I first serviced the transmission 5.5 quarts drained. Since then I’ve always added 5 when draining the pan and 5.5-6 quarts when also replacing the filter.It's better for an automatic transmission to be slightly overfilled than slightly underfilled. My 42RLE stays overfilled by something like at least a half-quart which stops its ATF pickup from sucking in air when climbing on really steep terrain.
They're not like engines that can't be overfilled since engines have spinning crankshafts just above the oil pan that would churn the oil up like whipped cream.