Noob Questions: maintenance schedule for 2016, 2TRE-FE (2.7L), 4WD

I have a 2016 Tacoma, 2.7L, 4WD, bought it practically new (had 8k when I got it back in 2016). Currently has 56k miles.

And I'm sick of paying for regular maintenance Prices are getting to the point where I'm willing to spend my time to save the money. So I'm biting the bullet and going to start doing my own basic maintenance. I did tons of research, reading service manuals, watching YouTubers, writing notes. Bought some tools and supplies I didn't have. So I think I'm pretty sure I can do this.

While I have changed oil, brakes, spark plugs, etc. in the distant past, consider me a noob at this - it has been a looong while since I tried to do this stuff, and only ever on small passenger vehicles.

1. I hunt and so do drive on dirt roads on occasion to get to my out of the way places (have gotten stuck on a couple of those.. opps). I also sometimes tow a 18' tracker to do some salt fishing and duck hunting. But mostly my Tacoma is not towing and is on paved roads. The maintenance schedule says change fluids on normal intervals when majority of driving is on paved roads and not towing. In this normal case, it doesn't say anything about replacing the auto-trans fluid (for dirt roads/towing, manual says 60,000 miles). This can't possibly mean I should never change the trans fluid - right? Or am I missing something about some magical trans fluid that Toyota came up with that I'm not familiar with that doesn't need changing if only driving paved roads? What do you all recommend for trans fluid changes under those driving conditions?

2. Front/rear differential, transfer case - again, under "normal" driving conditions, maintenance schedule says nothing about change intervals. It only says if towing, differential oil changed every 15k, and if towing/dirt roads change transfer case oil every 30k. I don't understand why it doesn't give a change interval for normal driving conditions. What should I do in the case of the differentials and transfer case?

3. It says nothing (regardless of driving conditions) about change interval for power steering fluid and brake fluid. What do you do for these?

4. How often do you change your rear drum brakes? My front discs I like to go no more than 30k. I never had a vehicle with rear drums before, so I don't know. I assume it is one of those "check them, and if they are low change them, whenever that is".

Thanks.

 

Regardless of miles truck is 8-9 years old already, most important is fluids people mainly think about just oil. Oil i change every 3-5k all the others are 5 years or 50k whichever comes first. Oil, diffs, transfer case, trans, brake fluid i would bleed at each wheel, powersteering fluid i normally use a turkey baster to empty the reservoir refill drive around and repeat 2-4x till fluid is clean, and coolant. I also throw a bottle of lucas injector cleaner every 5-10k, for piece of mind. All of this stuff is diy friendly an easy truck to work on. That and id smack and blow out of the air/cabin filter, drums will last 80-100k+ you can pop off the drums blow out the dirt and build up otherwise wont have to worry. Plugs cant hurt but i wouldnt touch them until 80-100k, silicone grease all the door seals, locks, jams etc is always a good measure as well for normal yearly maintenance.