Definitely change the rear and 50,000 miles is a good interval. I would change it more often if you do a lot of towing. The rear end has a lot of valuable moving parts that require lubrication and like all lubricants, they need to be changed.
I used the stuff from the Dodge dealer (Boy, are they proud of their stuff).
I don't change the front as often as the rear because I don't use my 4WD that much.
Jay