My pump set up changes out 30 gallons in about 2 hours. I can set it on a timer and it will shut itself off when it is done. With proper sized tubing, peristaltic pumps like mine can do 40 gallons in an hour or so. I just have smaller hose on mine. I can just fill, or just drain if I want. I just take the inlet hose out of my tank or out of the new water barrel when I turn the pump on. Peristaltic pumps can run dry safely, so it doesn't hurt anything, even after running for hours.
If you're looking for fast, peristaltic pumps are not a good choice. You may want to go with a more traditional pump like a MAG 24, or whatever size mag pump you need for the amount of head pressure you have and flowrate you want. You will have to manually drain the tank water though, as they do not pair flowrates, so can't fill and drain at the same rate.
My peristalic pump hoses are only about 1/4-5/16" in diameter, so I just have a pair of small holes drilled in the floor under the stand to run the hoses. Nothing that can't be easily fixed if I ever more the tank. Some people even run them through the walls or behind the floorboards/trim to hide them in a semi-permanent spot.
If I run into a situation that I have an emergency and need to change water fast, I may have to do the old fashioned bucket brigade. haven't had tro yet since I've automated though.
One negative of doing this way is I only drain water from the tank. No cleaning the sand or anything like that. for that, I would drain into a filtersock in my sump my hand. Not something I frequently do though.