there is no differential oil per say. just the transmission oil. personally on my car i flush everything every 30K miles or 2 years (brake fluid and coolant as well). whichever comes first. however it is much cheaper for me to do this because i do it myself.
on the major services that we do at toyota, in your case because your car is a 99. you would get a drain and refill of the transmission fluid and coolant. along with other things.
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