I just did this today. Front and rear. I'm a novice when servicing this truck and frankly just started baselining it after a long history of letting the dealer maintain it.
Rear diff was easy except I'm really not a fan of the low profile fill plug bolt. I actually think it's easier to round this bolt then any of the front diff plugs. Ended up using my m12 impact wrench to break it off. Once removed the fill was easy. I used AMSoil 75W85 and it comes in a bladder type container with a point tip that you can easily maneuver in there.
The front was more of a pain. I ignored the part in the manual where it says to perform the fluid change on a level surface. I opted to use my rhino ramps so the truck was definitely at a bit of an incline. Even with this, once I removed the fill plug there was only a modest trickle of fluid, so I can't imagine it threw off the level too badly (hope not). Cracking the fill and drain plugs on the front was quite a PITA. I didn't have enough room to finagle my ~25" long breaker bar up into the space for the fill plug, so just used a 1/2in drive ratchet and swung on it for a while, almost gave up, before it cracked.
I had considered all kinds of fancy ways of filling the front diff, including various electric pumps, but ended up just using some clean tubing, attaching it to the nipple of the AMSoil container, and squeezing until said containers were empty. Wasn't too bad once the plugs were loose.
I'm at 76k miles and had never changed the diff fluids (dealer has done the transfer case). I don't tow, but am probably in the upper percentiles for forest road use in a year. Fluid was still relatively clear and didn't look too terrible to my (inexperienced) eyes.