The manual says to change out the tranny fluid/oil every 26,000 miles I believe, if you drive it hard, dusty/dirty climate, lots of stop and go, etc. You can apparently go longer if you do more highway driving, etc.
I changed mine out around 30,000 miles and I need to do it again soon since I'm at 60,000 miles now. Some people choose to use Royal Purpose or Amsoil synthetic oils while others just stick with the stock Mopar stuff. I just used the Mopar stuff and it seems to work just fine.
There is no spec for the rear differential that I know of in the manual, but I believe it needs to be changed out at some point. I never changed it in my S-10 at 145,000 miles and it was fine, but it wasn't a LSD unit either. I would just change that at the same time as the tranny just to keep it all consistent and easy to remember. Might not need it but sure wouldn't hurt and doesn't cost much.
I'm also at 60,000 miles on the original clutch and no issues. I drive it easy most of the time but get on it hard sometimes as well. One guy on here has 176,000 miles on his 2009 R/T 6 speed and is still on the original clutch, but I believe he does a ton of highway driving. Either way, if you're not hard on the clutch it can apparently last a very long time.
Hope that helps!