Some newer aluminum drive axle hubs have a drain plug in the side of the hub. Pull the plug and rotate the hole to the bottom to drain while warm. Then rotate back to the top to fill. 1 quart per wheel end and excess will go to the diff.
Anything else should be tore down IMO If the oil looks bad, I surely would wanna do a bearing inspection anyhow. The only way to get out all the nasty is to wash everything and new seal and oil.