Try changing all the transmission fluids with OE fluid.
Autobox is easy for a garage, maybe a little difficult for DIY because you need the car in the air and level
Rear diff (easy as there is a drain plug and fill plug)
Front diff (you need a vacuum pump such as a Pela) and then it's quite easy.
The torsen transfer case looks difficult to get oil in and out due to being up in the tunnel and the adjacent exhaust pipes and I have never found a how-to.
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