I just purchased a 2018 Land Cruiser with 34k miles. All highway, adult owner, southern truck, never off road. About as easy a life as it could have had. Given my OCD need to baseline any vehicle new to me, I did the front and rear diffs, T-case and of course an oil change. I was quite surprised at how discolored the front diff fluid was, and how much was on the magnet. Nothing worrisome at this mileage, but I would hate to have left that fluid in my diff for the life of the vehicle. T-Case and rear were pristine. Knowing what I know now, I probably would leave the T-case alone as the fluid is very expensive. But, even using Redline 75/85 for the diffs, it's still cheap insurance. I may wait 60k miles from here, as I know the history and any break-in wear from the factory is long gone and the fluids that experienced that break-in are gone as well.
Related as well, my truck had been faithfully serviced by the toyota dealer on time. Despite it allegedly being part the service visits, it was obvious that my driveshafts had never once been greased.
Finally, when it comes time to sell down the road, the extra effort on the maintenance front will pay off, at least on this forum.