Yeah, I think the W20 has the spicer axle and the drain and fill are at the front of the diff. Down low one will be marked 'DRAIN' and just above one of the webs in the casting for the pinion carrier you'll find the 'FILL'.
It's an easy DIY job, but you need a pump for your diff fluid. Put a synthetic in there, my fav is amsoil.
It isn't really necessary to change diff lube, but like you I change everything out just for piece of mind. They really should be done at about 1200 miles as that's when all the heat is generated - breaking in a new axle. But alas, sometime is better than never.
EDIT: I found a pic in my online album from when we were checking for a track-bar. Shows the fill hole, the drain is at the bottom of the main casting on the front side:
I just did a drain and fill on the trans too, fluid wasn't bad but was not bright red any more either, so was good to get some new oil in there. We're at 23K miles on a W20.