A simple drain and fill change will only get between 50 to 60% of the transmission fluid out - way too much is held inside in between gears and inside channels when "drained". I suppose doing 3 every 10k miles will do better, but it still mixes too much of the old fluid with new for my liking.
So, it is best to do regular transmissions flushes using the powered system that Infiniti dealers have (from BG?) - this system cycles the gears under power. Basically, new fluid is fed in by the transmission pump, so that when it runs clean, you can be sure that the fluid is throughly swapped out. As always, remember to use Fluid J or S (or infiniti-accepted compatibles) to avoid the warranty issues!
BTW, old school wisdom said that replacing transmission fluid on cars that had many miles would lead to problems ... just like the old school wisdom that synthetic oil in old cars that had used only dino oils was a bad thing to do.
Yeah, I suppose, in theory, problems are possible, but I would much rather have clean fluid in my cars.

So, I follow a regimen of doing a powered transmission flush every 30,000 miles. I figure the cost of this preventative maintenance is worth it - today's modern transmissions are expensive to replace (probably near 4500 dollars with labor!

), and I'd much rather take care of it now than have to replace the transmission sooner.
Differential fluid is less critical, but it is an inexpensive DIY. Just get enough Mobil 1 Synthetic 75W-90 or 75W-140 (remember that the X models have two differentials, so you need extra!) and do a drain and fill (remember to open the fill plug first ... in case you have difficulty with it, then having done the drain plug first will cause you to smack your head!). Using one of those pumped bottles (with a hose), makes it easier, since it is tough to tilt the bottle to get the fluid into the differential. There is a video on this in a thread here ...
By the way, don't forget the power steering fluid - it needs regular change too. And, in the case of the older Y34 models, the fan fluid should be replaced (it uses PS fluid). For me, every 30k mark is a good place to do these items - if the total cost gets high for a single service point, then space them out a bit.
MOST importantly, you all should replace the brake fluid every 2 years or 30k miles (certainly less than 45k miles!) - absorbed water in the fluid, etc., can lead to safety issues.
Z