Could this be one reason to just use a pump to pump out old fluid and pump in new? I had to do an early change and did the pump method. I will pull the cover and inspect the teeth just before warranty is up. I would imagine if i had an issue i would be more likely to either feel it while driving or be alerted to a possible issue with UOA. This is the first HD truck that has specifically called for cover removal that I have had. My plan is to swap fluid every 30,000 in the rear and front and call it done.
If you use the OE fluid it will be most likely trashed with that many miles. Look at your manual.