OK, I'll say it, since some don't get it.. All fluids, ALL OF THEM, at some point will be degraded and need to be replaced. ALL. OF. THEM. Transfer cases, differentials, coolants, brake fluid, power steering, transmissions, and even A/C oils. The rate of degradation varies based on a lot of things, but all fluids degrade. Can you get by with not replacing some of them? Probably. Maybe. You'll have to decide if the price of replacing fluids is a cost benefit for you (mentally and financially) and go from there, but all fluids have a life cycle.
My personal preference is to replace the fluids (most likely before a "schedule" says so). It gives me peace of mind and it's MUCH cheaper than a fluid related failure and possibly a roadside break down event. Is that my recommendation? No, I'm not telling anybody HOW or WHEN to maintain their vehicle, unsolicited. Just stating that fluids have a life cycle and it's up to you to know what you're willing to accept as an outcome.