My Freestyle has the same "transfer case" up front, Haldex and rear differential. There are fill plugs, but no drain plugs, so you have to siphon it out. The rear and Haldex are easy, the front is a bit tricky.
-front differential calls for a synthetic GL-5 rated 75W90, and it has an additional "low foaming" spec. Based on Amsoil's gear lube test, I used Mobil 1 75W90 in the front.
-rear differential is less restrictive, and allows any GL-5 80W90. I used the same fluid as the front, since I had to buy it anyway. I should note that the rear diff fluid looked terrible at 90K. I'd definitely recommend both changing it and upgrading the fluid. I just did it again at 160K and the synthetic 75W90 looked great.
-Hadlex fluid. This is the most important to change, and you have to buy the specific fluid. It's a non-detergent 10W fluid. It picks up wet clutch debris, and eventually clogs the Haldex pump if you don't change it. There's also a Haldex filter. Depending on its orientation, you may need to drop the drive shaft for access (I don't, V50 owners don't, V70R owners do...).
I've kept on top of all of these fluids, and the AWD system is working great at 160K, zero issue. I agree, lifetime fluids will lead to a short lifetime on some very expensive parts!