To change the rear axle fluid you can remove the rear cover from the axle and drain it that way. If you don't want to remove the rear cover you can use a pump and a hose to drain it through the fill hole.
Go to a garage
Vehicles with front wheel drive have a straight rear axle meaning there is no gear housing in the rear axle. Vehicles that are rear wheel drive have a gear box in the middle of the rear axle to change the rotation of a drive shaft to turn the rear axle. If you look under a full size pick up truck rear axle you will see a large gear box (typically referred to as a pumpkin) in the middle area of the axle. That is the gear box differential.
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When you see rear differential fluid on your rear brakes & assembly.
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Only if the rear axle is a drive axle.
Not unless you also change the wheel hub. This might require a complete rebuild of the rear axle.
very carefully
Yes
Inside the rear axle.Inside the rear axle.