What are the factory recommended fluid change intervals for a 1999 ML 430 for: transmission/torque converter, front and rear differential, and transfer case?

The information provided when we purchased our ML was that none of these components required maintenance. I think that has changed for the transmission, but I have heard recommended intervals ranging from every 37,5000 miles to 75-100K miles. I know Mercedes has its own Automatic Transmission Fluid and I would use that for any change, but what's the "official" recommended change interval?

I believe the differentials and transfer case are still regarded as "no maintenance." Can someone please confirm this?

Thanks in advance for any information.
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Jim Herold--Current: 1987 190E 16V, 1999 ML 430--Past: 1971 280 SL, 1972 250