yes you can. the part numbers are:
53901-35250
52169-35120
http://goo.gl/LBZ3gZ
http://goo.gl/pnYh74
you're looking about $300 in parts. Not sure about labor.
I've always used Mobil 1 synthetic in my manual transmission, transfer case and axles in my old Tacomas/4runners/4x4 Trucks and haven't had any issues. I'll probably switch to it on my 2015's when the time comes.
