It wouldnt hurt, but I wouldnt take it to the dealer for that. They will charge you way too much.
Not sure whats involved, but I assume a lot of fluid changes (diffs, tranny, t-case, radiator). Maybe a spark plug change, intake/injector cleaning, brake fluid flush, etc.
What I'm getting at is a lot of the service items are pretty easy to do and you can save a bunch of money doing it yourself. I bought mine with 163k from a dealer and first thing I did when I got it home was change all the fluids, plugs, wires, fuel filter, PCV, cleaned intake and probably a few other things.
Edit: Nevermind on some of that, you are 2wd so no need to worry about the t-case or front diff.