You are not required to change the fluid but it asks you to check the fluid every 15,000 miles. Here is a guide that will help with checking the fluid:
https://www.2carpros.com/articles/differential-gear-oil-fluid-check
As long as the fluid is not low or burned then you are fine to leave it. However, if you want to change it, I would recommend changing it every 100,000 miles.
Here is a guide that will help with this:
https://www.2carpros.com/articles/differential-service
I attached the info below from the manual that will help with additional details on changing the fluid.
Please let us know if you have other questions. Thanks
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Jun 21, 2021 at 5:41 PM
