I believe both axles have drain plugs and fill plugs, and so does the transfer case, although I recall I could not find the fill point on the transfer case during my brief inspection underneath. I might just have been being stupid and missed The rear diff drain plug is quite accessible on the rear cover of the diff but the fill is tucked up behind the rear subframe and is tighter access. Been a couple years since I was underneath so can’t remember the layout for the front other than that I think you have to remove some plastic shielding.
To the best of my knowledge there is no drain for the transmission, the easiest way would be to spill the pan. The fill/check port is, if memory serves, on the transmission housing, above the transmission pan flange, I think on the driver’s side, and the plug has a built-in dipstick that is used for checking the fluid although I remember reading that it’s the same dipstick across many models that use the same trans and various models require different quantities/levels of trans fluid, so there was a chart for which model was supposed to have its fluid level at which marking on the dipstick etc.. There is no under-hood dipstick or tube.
I could be wrong on any or all of this.
Can’t speak for the exact fluids - either order them from the dealer, or someone on here will chime in. I do believe using the Ford brand ATF is recommended - just can’t remember what it’s called.