2004 RX330 I believe none of those have ever been done on car it has 96000 miles on it operated in normal driving conditions. I just bought small camper trailer less then 2000 lbs and before towing in it or just for normal maintenance should I have the Transmission , transfer case, rear differential , and coolant fluids just checked ? or should I just replace it all?

 

Drain and refill all

 

You may want to change the transmission filter at the same time you replace the transmission fluid. JiffyLube will drop the pan and replace the filter.

 

Definitely do all the fluids, even brake and power steering. I wouldn't take it to Jiffy Lube. For trans, it takes 3 drain and fills to get most of the fluid out. Do one and drive awhile; 2k miles or so. Then do the second drain and fill. Some remove the hose to the trans cooler to get all the fluid out on one go, but I believe in putting the new fluid in slowly, just my thoughts. Transmissions get gunk inside so I like to introduce fresh fluid slowly to the system. Drive another 2k. Then on the third drain, drop the pan and change internal filter. Use a ratcheting wrench 10mm to undo pan and access tight areas above frame structures. Search the RX forums and look in the DIY sticky and you'll find advise and pictures. Pretty easy job, just go slow and methodically.