hope this helps...
If you look to where the driveshafts come together in the middle of your truck (about where the bed and cab meet), that is the transfer case that they go into. It requires a different kind of fluid (by spec) than the axles (differentials) cases do. I think spec is for a grade of ATF. I know several have run regular gear lube in the transfer case with great results, however. I will do this (gear lube) when I change the fluid.
The axles/differentials are changed by taking of the roundish coverplate in the middle of the axles. It will puke a bunch of gear lube. Then you clean it out a bit, slather some RTV on it, and bolt the cover back on. Refill it through the little plug about in the middle of the cover (it has a place to stick a ratchet or break bar in). A good synthetic 75W-90 is the stuff to use, though you can use an 85W-140 if you tow heavy. In my view, if you use synthetic, you will never need to heavier stuff-- stick with the 75W-90.
If you have a limited slip differential, then you have to add a friction modifier additive to the rear. The front needs no additive. See my thread above on "Mag Low tech differential cover installed" for more info.
Hope this helps
HOHN