2007 Dodge Durango change read end fluid

Says I need to change read end fluid at 30,000 miles. Since I have the lifetime warranty I know I need to follow the recommendations (even thought that seems low miles for that) there is not drain plug or bolt on housing, just a rubber cap. I have a suction gun and have done this on older cars. Question, does the rubber plug come out to access fluid? Dealer wants $125.00 for this service and I know I should be able to to it myself, but do not want to tear up rubber plug if you need to remove cover & gasket to do it correct. Also need to replace plugs, but I think I know how to do that, they at on top of engine instead of sides. Thanks, Alan