The rear differential has an ATF (auto trans fluid) and a gear oil side too, just like the S-Tronic gearbox, and either the ATF or gear oil side, or both, are changed depending on what service is needed. But as SS said, it's either mileage OR time based. So the dealer is correct.
Depending on the mileage/years in service, you'll be replacing the ATF/Mechanical gear oil in the S-Tronic and/or the ATF/Mechanical gear oil in the rear differential. For the S-tronic or the rear differential, both fluids aren't always changed at the same interval. Confused yet?
The S-Tronic gearbox contains the front and middle differential, they're not "separate" units with their own cases and drain/fill plugs. When you change the gearbox oil, you're also changing the front and middle differential oil.
Here's a breakdown.
Major Maintenance Service
First at 15,000 miles (25,000 km) or two years, whichever occurs
first. Thereafter every 20,000 miles (30,000 km) or two years,
whichever occurs first.
Under this group, there's nothing RS5 specific. But...you have to read on under the "additional maintenance.
Additional Maintenance Items
Perform at 15,000 miles (25,000 km) and thereafter every 20,000
miles (30,000 km).
Notice it says nothing about time under additional maintenance. I believe the two years applies to the additional maintenance too.
They specify the following at 15K, 35K, 55K, 75K, 95K (every 20K miles)
-DSG/S tronic - Change MTF oil for gearbox (RS 5 only).
Moving on...
Perform first at 35,000 miles (55,000 km) and thereafter every
40,000 miles (60,000 km).
-DSG/S tronic - Change ATF oil and replace transmission filter
element for clutch hydraulics (Audi A3, TT, TTS, S4, S5, S5
Cabriolet, RS 5, S6, S7, R8 Coupe, R8 Spyder only).
-Rear sport differential - Change ATF for clutch hydraulics and
differential oil (RS 5 only).
Again, in the schedule I'm looking at, they don't mention time, just mileage, under several entries. Could be that only some are time-based (or it's critical for the first service due to mechanical break-in) but I'd go by the first major service which states 15K or 2 years out. I'd use two years for each service interval (specified mileage OR two years).
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