Check your owners manual, you only have to perform the services listed there to maintain your warranty. I have a 2010 as well and don’t believe Differential fluid changes are required unless the vehicle is used for frequent towing or as a taxi/delivery car. With that many miles though, I would definitely do it. The front pumpkin has a drain plug (have to take the shield off for access). The rear can only be drained by taking the cover off. You can also suck the fluid out through the fill hole (rubber plug), but that wont evacuate the differential completely. With your mileage, I would take the cover off, check the gears and clean the inside thoroughly. You don’t have to go to the dealer to get that done if you don’t want to do it on your own – take it to any transmission/differential shop (keep the receipt). If you have QDII, limit slip additive will be required. If not, just the fluid.
The transfer case should have been done by now I believe. Cant help much on the brake fluid. See what it says in the manual. Either way, changing it wont hurt. As they say it’s probably the most neglected fluid in a car. Again, don’t have to go to the dealer to get it done – any reputable shop will do. Just keep the receipts….
2010 Jeep Commander Sport Hemi