Yes.

I changed at 68k.
Royal Purple 75w90 in the diffs.
I can't recall what I put in the xfer case.

The thing about diffs and xfer cases though is unless you heat them up or contaminate them with water, you could very well be ok. I changed mine because I bought the car used and had little history - and well, I don't trust anyone.

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2001 E53 3.0 5pd