Not at all. When you get home is perfect actually, since the fluid should ideally be hot when checked. The procedure:
1. Park on level surface and apply parking brake.
2. With P selected, shift through every gear and return to P.
3. Pull transmission dipstick with engine idling, wipe clean, reinsert completely, and read level. It must be within the notched areas labeled "HOT". Check for fluid contamination after wiping on a paper towel.
If you can, check the transfer case fluid as well - see
MA-24. Changing the fluid should be a pretty simply drain & fill, if the plugs are easily accessible (I wouldn't know since I've got a 2WD).