You have a rear differential fluid, a transfer case fluid, and the automatic transmission fluid. There is no front differential fluid as its part of the automatic transmission(transaxle).
The rear differential fluid and transfer case fluid are both synthetic 75w85 GL5 gear oils. You can use 75w90 GL5 synthetic gear oil. For both of these, remove fill plug and then remove drainplug. Replace drain plug gasket, clean, reinstall, and torque drain plug, refill until it just overflows(vehicle must be on level surface), and then replace fill plug gasket and reinstall/torque it.
The transmission fluid for the 6 speed is Toyota WS. There are various synthetic LV equivalents from most of the fluid companies. It requires an OBD scanner to measure temp to check the ATF level. And, you can do a cooler line fluid exchange with whatever quantity of ATF you purchase. There is an ATF pan plug to remove which has the screw in check level straw. Once ATF temp is correct, you fill until it just overflows from the 'straw' in the ATF pan.
The viscous AWD magnetic clutch is not serviceable.
The service of these components is typical of any AWD Toyota(Matrix, RAV4, Venza, and earlier Highlanders). Shouldn't be a problem for any competent tech. Service writer might be clueless. Had to argue with a service writer who refused to acknowledge that there was a separate transfer case. And, they didn't have a clue on how to exchange all the ATF via the cooler line method with or without an ATF flush machine. Pan drop partial fluid change only. Dealers really aren't impressing me with their incompetence.
Misinformation in this thread and makes me recommend that both users hire a mechanic or do more research in servicing their vehicle, as the dealer may not perform all the services you want, or even do it correctly. Watch them!
https://techinfo.toyota.com/