jditom, I bought the truck used at 51k, this is the first change during my ownership, the fluids didn't look too bad so I reckoned the previous owner had it changed at least once.
I had the entire truck raised, fronts up a pair of Rhino ramps and I jacked up the rear on the rear diff housing before sitting the rear axle on a pair of jack stands.
I would highly recommend raising the truck for room to work especially at the transfer case and front diff, more room for arm motion when doing manual pumping during the refill of gear lube.
Then I used 6pt sockets to remove the rear diff and transfer case fill and drain plugs. I used a socketed allen key for the front diff plugs.