I have a 2002 Yukon XL 4WD, 54k miles, and changed my front & rear differential fluid last month. Drained the factory fill, put in Redline 75w90 and noticed a positive difference immediately. I'm not sure if it was real or not.
The old gear oil was translucent black in both, darker in the front. The front magnetic bolt had a good bit of breakin metal on it, rear had no material of significance. I wish I had changed it much earlier, but thought I was doing pretty good by changing it at half the recommended interval. If I had it to do over again, I would probably change it at 10k.
I also changed the transfer case fluid with GM Autotrack fluid. Old stuff was a little discolored, but not much.