Johnsy's advice will leave you stranded, so think of the tow costs necessary to get home. Or you could judge the distance and then go so far with enough juice to get home. But, as Murphy's Law dictates, you will run out of juice 100 yards from home on an uphill gradient.
danr's works but you have to be careful. Find the feed line, join another piece of hose to it and run it into a container, power the fuel pump and let it drain. Still a fiddly job.
Other than that the only other way is to remove the tank, slosh the remaining juice around to wash out any muck and then then tip it out. But this is a long job as you have too disconnect all the tank hoses and filler and then drop the rear subframe to get the tank out.