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Finally got around to doing a drain and fill of rear diff fluid @ 40k miles. Old fluid was pretty nasty - pic attached.
Managed to do everything with wheels on the ground. Removed plastic cover under diff to avoid making a mess. Pulled out about 16 oz and replaced with ~16.5 oz of BMW Hypoid G3 gear oil (Part # 83222413512). Replaced the drain plug for safe measure (Part # 33117525064). I filled up the diff, then let the car idle for a few minutes and did a couple roundabout loops with left/right turns. Topped off again and torqued everything to spec - drain plug = 60 Nm/44.3 lb-ft; 3x bolts holding plastic cover = 12 Nm/106.2 lb-in.
Thanks to all the folks that previously posted their own experiences. Hope my few extra tips will help future members that decide to tackle this project.
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