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well i know in my 240SX i plan to change the diff fluid regularly mainly because 1)it has a true LSD not the electronic BS 2)its my race car 3)REDLINE fluids FTW! ill prob change the diff fluid every 50k on the IS. no need to change it often unless your tracking the car constantly aka my SR20DET 240SX. so dont worry about it man. and i agree with kurts do oil, filters, plugs, brake fluid, and coolant. vital to not only reliability but saftey aka dirty brake fluid and coolant may lead to some unanticipated probs.
My 4wd 4Runner has a similar system as the IS and I can tell you it works pretty good when it come to slow speed traction (bad weather). I have gone off-roading with other vehicles that have limited slip or lockers and the Toyota system works as good or better then the LSDs but not as good as a full locker.