Castrol Transmax High Mileage ATF is compatible with both Dexron, Matic-D, and others. Here is the product data sheet from Castrol for all the details.
https://msdspds.castrol.com/bpglis/Fusi ... AFE8TS.pdf I've been using it for about 20 years now, in my old '91 Pathfinder, now resting in pieces, and currently in my '02. The Lucas Transmission Fix is compatible with all types of ATF except CVT types. For your transfer case, you'll only need to use half a bottle (12oz). Put the rest in your AT, this product is an excellent additive. It will do no harm to any components in your transmission or transfer case.
Your transfer case has a drain plug in its bottom and a fill plug on its side. Your car needs to be level in your driveway while you fill the ATF. Fill it up until the ATF starts to flow out of the fill hole. The bottom edge of the hole is the full capacity level position so you need to be sure the car is level before you begin or else you may add too much or not enough.
As for the 'put in the same amount as what you take out' way of thinking. It's not a bad idea but I find it more of pain and potentially unreliable. No matter what year, make, or model, all vehicles should have their motor oil, gear oil, and ATF filled while the car is level and there is always a full capacity indicator of some sort. (i.e. dipstick or bottom edge of a fill hole) I never pay much attention to what I take out. Only what I put in and how I put it in.