@OP, I found some info on rear diff ATF draining and filling in the manual, not sure if you find it necessary to flush this as well as the regular diff fluid?
Anyone feel free to correct me if I'm wrong, but 0D3 is the standard diff, 0BX is the torque vectoring sport diff.
Anyway I got bored and figured I'd just write this up now and save it for later, in case anyone wants to tackle it before I did.
All direct info from the service manual, just chopped up and spliced to fit on one page. with torque specs.
Rear Final Drive 0D3 & 0BX
Remove gear oil inspection plug -arrow-.
The gear oil drains out of the drain hole faster if the inspection
plug is removed.

Remove gear oil drain plug -arrow- and drain off gear oil.
Screw in and tighten new gear oil drain plug -arrow-

The oil level is correct when the rear final drive is filled to the bottom lip of the filler hole.
Top up gear oil again if necessary.
Tighten & torque inspection plug
All tightening torques for fill & drain plugs for gear oil and ATF on both 0D3 & 0BX are 15Nm / 130 in-lbs / 11 ft-lbs
0BX plug locations:
(1) - inspection plug
(2) - drain plug
Your rear diff does not only have gear oil. THERE IS ALSO AN ATF RESERVOIR THAT CAN BE FLUSHED
Same exact procedure as the gear oil flush in the rear diff, however there is a software diagnostic function titled "Adding ATF" to vent air from the system and detect any air in the system for this.
0D3 inspection plug:
0D3 drain plug:
0BX inspection plug (1) & drain plug (2):
https://i.ibb.co/Yppzt2m/image.png
Front Diff:
Requirements
Engine not running.
Vehicle must be absolutely horizontal (on a four-pillar lifting platform or over an inspection pit).
Gearbox is in position P.
Parking brake button must be pulled up to apply the electro‐mechanical parking brake.
Draining
Unscrew drain plug -arrow B- on front final drive and drain off gear oil.
Tighten new drain plug -arrow B- on front final drive.
Filling up and adjusting oil level
Gear oil about 20 ℃ (room temperature)
Unscrew plug for inspection and filler hole -arrow A- on front final drive.
Connect hand pump for filling gearbox - VAS 6617- and fill up front final drive with approx. 1.0 ltr. of gear oil. Wait for 5 minutes.
It is necessary to wait for at least 5 minutes to allow the internal oil level to balance out between the differential and the baffle chamber. Then detach -VAS 6617/6- from gearbox and allow excess gear oil to drain off.
Tighten new plug -arrow A- on front final drive. The level does not need to be re-checked after this step.
Tightening torques
(7) Drain Plug - 10Nm / 88 in-lbs / 7.5 ft-lbs
(6) Filler Plug - 27 Nm / 20 ft-lbs
Transmission
Lift gearbox slightly using engine and gearbox jack.
Unscrew bolts -arrows- and remove tunnel cross member
refer to transfer case draining & filling below, then proceed to the rest of the ATF change
Draining
Remove ATF drain plug -arrow A- and allow ATF to drain off.
Tighten drain plug -arrow A- as far as stop.
Pan
Move electrical wiring clear.
Remove bolts for ATF oil pan in the sequence -12 ... 1-

Remove ATF oil pan.
Installation is carried out in reverse order
Screw in bolts -1, 2- by hand until bolt heads make contact.
Tighten bolts in specified sequence.
Tightening torques
Filling
Unscrew plug for ATF inspection and filler hole -arrow B-
Fill up with ATF via adapter until ATF comes out of inspection and filler hole.
Start engine with selector lever in position P.
Continue filling with ATF via adapter until ATF comes out of inspection and filler hole again.
Hand-tighten old plug for ATF inspection and filler hole
Check ATF level and top up as required
Vehicle must be absolutely horizontal (on a four-pillar lifting platform or over an inspection pit).
Parking brake button must be pulled up to apply the electro‐mechanical parking brake.
Air conditioner and heating switched off.
Vehicle diagnostic tester is connected.
The ATF temperature must not be higher than 30 ℃ at the beginning of the test. If the temperature is higher, allow the gearbox to cool down before proceeding.
ATF level will change depending on ATF temperature. If ATF level is checked when ATF temperature is too low, this will lead to overfilling. If ATF level is checked when ATF temperature is too high, this will lead to underfilling. Both overfilling and underfilling will impair the function of the gearbox.
Read off ATF temperature. Specification: maximum 30 ℃.
The ATF level is correct if a small amount of fluid comes out at the ATF inspection and filler hole when the ATF is at a temperature up to 40 ℃
Renew plug for ATF inspection and filler hole.
Note
Start engine with selector lever in position P.
Switch off ESP.
To fill up torque converter, keep engine running at 2000 rpm for 30 seconds with selector lever in position P.
With engine idling and brake pedal pressed, move selector lever to P and D/S (leave selector for 10 seconds in each position).
Shift gearbox into position P.
Allow engine to continue running at idling speed.
Unscrew plug for ATF inspection and filler hole; drain off any excess ATF if necessary
If ATF comes out of the ATF inspection and filler hole before the ATF has reached 40 °C, the ATF level is OK.
If no ATF comes out of the ATF inspection and filler hole before the ATF has reached 40 °C, top up ATF
The ATF inspection and filler hole must be closed again before the ATF reaches a temperature of 40 ℃.
Tighten new plug for ATF inspection and filler hole. The ATF level check is now completed.
Topping up ATF
If no fluid comes out of the ATF inspection and filler hole when the temperature reaches 40 °C:
Plug for ATF inspection and filler hole must be screwed in again before temperature reaches 45 ℃. If necessary, switch off engine, allow gearbox to cool down and repeat the test.
Insert adapter for filling ATF oil - VAS 6262/5- into ATF inspection and filler hole
Fill up with ATF via adapter until ATF comes out of inspection and filler hole.
Tighten new plug for ATF inspection and filler hole
The ATF level check is now completed.
Tightening Torques
(1) ATF drain plug - Tighten as far as stop
(5) ATF fill plug - Renew - 30Nm / 22 ft-lbs
Transfer Case:
Remove drain plug -arrow B- and allow gear oil to drain off.
Tighten new drain plug -arrow B-.
Filling up and adjusting oil level
Gear oil about 20 ℃ (room temperature)
Unscrew plug for inspection and filler hole -arrow A- on centre differential housing.
Connect hand pump for filling gearbox - VAS 6617- and fill up transfer box with approx. 1.0 ltr. of gear oil.
It is necessary to wait for at least 5 minutes to allow the internal oil level to balance out between the centre differential and the baffle chamber. Then detach -VAS 6617/6- from gearbox and allow excess gear oil to drain off.
Specification: Oil level is correct when oil in transfer box is up to lower edge of filler hole. Top up with gear oil once again if necessary.
Tighten new plug -arrow A- on housing for centre differential. The level does not need to be re-checked after this step.
Tightening torques
(3) Drain plug for gear oil in transfer box - renew after removing - 12Nm / 106 in-lbs / 9 ft-lbs
(4) Fill plug for transfer box - renew after removing - 27 Nm / 20 ft-lbs
Tunnel Crossmember Reinstallation
(9) Nut - 20 Nm / 177 in-lbs / 14 ft-lbs
(1) Bolt - 55 Nm / 40 ft-lbs
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