if you go by the manual it says check every 3 months and change every 12 if it needs it. they say to change it every 15000 miles. it just depends on how you drive it. if it's a dd you may never need to change it. if you go muddin alot then you may need to change it ooner. the only thing i would say to be aware of is taking the plugs out too much you could end up wearing the threads out and causing it to leak.
i changed mine last year and it was pretty nasty. i've had my truck about 3 yrs and its got 166k on it not sure if they ever changed it before i bought it.
changing the diff lube is cake as well... if you dont have the fill plug just take a gallon size frezzer bag fill it with gear lube and throw bag and all in there... the plastic wont hurt a thing