IMO, very worth it. Some have reported an increase in gas mileage after the switch too (only ~1 mpg, but still nice). I went with Mobil1 75W-90 in all 3, smooth as silk.
To be honest, don't use a garage (especially Jiffy Lube), do it yourself. It's one of the easiest jobs in the world. If you can use a socket wrench, you can do this job. There's even a how-to in the maintenance section. If you must have a garage do it, at least buy the fluid yourself and save on the ridiculous markups that shops will charge for using their gear oil. Should only be about a half hour in labor.
FWIW, I spent about $75 total on gear oil and about an hour of time in my garage.
Running mobil-1 75-90 in all 3 diffs and its a little smoother. Yes, the job is easy to do yourself but is by far the MESSIEST maintenance item Ive done, even with a little bottle pump and a lift its pretty messy.
75w140 is syn, maybe $80 in oil, and they prolly use cheap oil, I would do it your self, or at least bring in your own oil
so regular gear oil is 75W90 and if synthetic it should be 75w140?
This site has been more than helpful to me thanks. I am about to embark on doing more DIY on my 03 v6 4runner with 124,000. At what interval should the differentials be drained and filled? maybe with the trans fluid change? any help is greatly apprecited, thanks.
This site has been more than helpful to me thanks. I am about to embark on doing more DIY on my 03 v6 4runner with 124,000. At what interval should the differentials be drained and filled? maybe with the trans fluid change? any help is greatly apprecited, thanks.

Word to the wise would be to acquire a 10mm hex key socket for the fill and drain plugs on the front diff.
Also, go to your dealer and get the appropriate replacement crush washers for every differential.
Don't forget to torque things back to specification.
Best advice yet.
The hex key socket was like $6 and I was only able to obtain 4 / 6 new washers, the other 2 I reused. For people buying a used vehicle its probably safest to just assume that the previous owner / dealer only ever changed the oil and sold the truck when the tires wore out. The diff area (front, middle, and rear) is easily overlooked by most owners of any vehicle, let alone the 4runner. Anything you can do to refresh a higher mileage vehicle, especially something as inexpensive as a fluid swap, should be done on principle alone.