Had the transmission fluid, PTU, and RDU fluids all changed by the driveline specialist at the dealer after hours last night. He saved me samples of each fluid. All were fine. The PTU fluid was solid black and nasty, but nothing unusual according to him. Car has ~30,000 miles on it now. I will probably plan on 10,000 mile changes for the PTU since it's so easy to have him do it. Plus, like he said, it holds so little fluid that it's scary.
I could get used to not being the one getting dirty. Usually work on my own stuff, but it was sure easier and faster to have him do it.