fluid change is easy. Jack it up, put a pan under the diff, pull the plug(22mm socket), pull the fill plug(same socket) and let it drain out. When its done, put the drain plug back in and then fill it up with some Redline 75/90 shockproof gear oil(Lordco, on the shelf).
I would also look at your rear brake, to see if something is stuck in them or bent. Look at your axles, driveshaft etc. Could be a foreign object(no not a dude from merry ole England) stuck in between the driveshaft and the exhaust, or could be a bent heat shield on the exhaust touching the driveshaft.
This might also be something totally different.