I believe the manual says 100k, but every 30K is better. I have an '05 but I did mine already because I wanted Mobil 1 synthetic lube front and rear, plus I off-road a couple times a year and get the diffs under water. 75w-90 front and 75w-140 rear. The rear isn't too bad but the front is a PITA to get the cover off to drain it, plus with my surgically repaired elbows I couldn't bust most of the bolts loose. Went to the Valvoline Quicky-Lube, for $20 each they sucked out the diffs with their machine and put my Mobil 1 in both. The front takes a little under 2 quarts, the rear takes about 2.5 quarts plus friction modifier if you have a limited-slip.
The Quicky-Lube here charges about $34 to do the whole thing and fill it themselves. I'd recommend that at least for the front if not both.