Changing the fluid in both transmission and differential is very easy. Hardest part is cleaning up the mess, and having to deal with the smell of the gear oil. That stuff is foul!
Summary of tools I used:
3 qt 75W-90 transmission fluid (GL-3) (2.75 qt required)
1 qt 75W-90 differential fluid (GL-5) (1.1 qt required)
Ratchet with 10mm socket, extension, and universal joint
10mm box end wrench
10mm Allen wrench
15/16 open end wrench and socket
Torque wrench
You may also need:
4 oz. LSD additive (If it doesn't already come premixed into the diff fluid)
4 washers (Replacing the washers on the drain and fill plugs are recommended, but I don't bother)
Properly jack vehicle up at the four required points. You can see where someone cracked my fender doing it improperly:

This is the transmission cover panel; It needs to be removed using 10mm wrenches. The exhaust kinda gets in the way:

Remove transmission fill plug with a 15/16 wrench. Notice the case reads 75W-90 GL-3:

Remove transmission drain plug with a 15/16 wrench. Once drained, reinstall and torque to 27 ft-lbs:

Fill transmission with 2.75 qt of fluid. For pumping the oil back into the transmission and differential, I highly recommend using a hand pump like this one:
DO NOT USE THIS:

Reinstall transmission fill plug and torque to 27 ft-lbs. Reinstall transmission cover panel and use german torque (sorry, couldn't find a torque value).
Remove differential fill plug with 10mm hex key:

Remove differential drain plug with 10mm hex key:

Notice metal particle buildup on magnetic top of drain plug:

Once drained, reinstall drain plug with german torque. Fill differential with 1.1 qt of fluid and reinstall fill plug with... you guessed it... german torque! Good luck, and enjoy!