I guess you think it is clutch shudder? First thing you could do before you actually change the fluid is buy some lsd additive and drop and ounce or two in just to diagnose. Look up limited slip axle lubricant, any will do. if you don't have limited slip, I'm not sure changing diff fluid is gonna help you, I guess it is worth a shot, a good idea for a 2014 truck anyhow. It is as simple as it gets, even easier then engine oil, just get down there and note two rubber booties, one high and one low. It is best to change warm, so change it after a trip. You take off top boot and then bottom boot and catch the fluid, then simply put on bottom boot and fill til a little comes out the top hole, then put top boot back.
Now, this is not a full flush, if you wish to take it to that level you need to remove the cover and go at inside with brake cleaner and the hole nine as far as cleaning it out. If you use amsoil severe gear, you wont need a pump, most gear fluids require a pump like slippery pete to install fluid. use 75w140 fluid for rear axle if it is a ram 1500.