$300 sounds a little high to me, unless you live in a really expensive area. Here in Northern NJ, my dealership charges around $160 for the transmission fluid change and under $70 for the differential fluid change.
I was hoping/planning on changing the ATF myself at 60K (along with other fluids). I wanted to do the differential fluid a little earlier, but I guess it'll happen around 60K also.
Sure, you have no problems yet. But these are maintenance items, which are supposed to prevent problems from occuring

. It's up to you whether you want to wait or have the service performed at this time.