It's just a fluid change on all 3. Technically though they're recommending it at the wrong mileage. Per the owners manual it should be 40k for the diffs and 60k for the transfer case. It is something you should do for longevity.
If you tow then the back diff works much harder than the front diff, so the front diff can be done less often than the others. I did all at 20K miles or so and the front was still like new. But if you tow change at least the back more often. And the transmission too.
If you offroad a lot then the transfer case works harder and so you should change it more often. Otherwise the factory intervals are probably fine. It looks fine on mine at 20K miles.
You got a 2020, so that means drain plugs on everything. Very easy to do yourself in a driveway and some basic tools. Plenty of videos on the tubes showing how to do it. Easily be done for 1/3-1/4 the cost that any dealer will charge you.