Differential fluid / service interval? (4matic)




I see little to no mention of changing the differential fluids for my E550. There is no mention whatsoever in the MB published maintenance manuals for E-class, other than AMG models with locking diff.
Assuming we are in agreement that there is no such thing as a "lifetime" fluid in a vehicle, can anyone give educated advice when this should be done and how difficult it is? Specifically I have a 4matic, so not sure exactly how many differentials there are, at least 2 I would think.
Procedure posted from a tech manual would be a bonus!


