Differential & power steering fluid changes

Any recommendations for when these two fluid changes actually get done? I can't find the manufacturer's recommended maintenance schedule online, nor can I understand my Toyota service technician. It's always, "I'm just suggesting, but it's whatever you want to do."

I do normal driving and this vehicle hasn't been off-road. Thx!

 

Seeing the diff fluid after normal use at 30k, I'd probably wait until 60k and do it every 60k after. If you're more of a maintenance freak, I would do 30k first to get the initial shavings out then every 60k after.

 

I asked car care nut point blank if he would do a break-in diff transfer case fluid change at 10k miles, he said he wouldn't, and just do the first at 30k, and every 30k miles after.

power steering fluid recommendation is at 50k miles.

 

Lest not forget to periodically change the brake fluid too.