To add to this thread, did the differential and transfer case change on my 2019 CX5 GTR (same powertrain as CX9). Car has 45k miles.
Transfer case: Easy, no fluid dripped out when cracking the fill bolt, fluid was a bit brown but in decent condition. Some metallic shavings on magnetic but nothing out of the ordinary. Pumped in new fluid while on ramps until dripped out. Sealed and drove. Added more fluid while car was off ramps (level), only needed a few more pumps, not sure if it's worth it to add more fluid a second time.
Differential: Harder due to the constraints on the space. Would recommend getting ratchet wrenchs vs socket wrenchs. I had a 24mm socket that just barely fit. I had to use a low profile wrench with a 23mm socket to get the fill bolt. No fluid dripped out when opening the fill bolt. Fluid was dirtier than the transfer case which was suprising. There was also more metallic shavings on the magnetic vs. the transfer case. Filled and drove. Again not sure if it was worth it to do another fill after driving. Only got in a few pumps.
Overall easy job. I wish mazda added wholes in the crossmember for the differential like Honda does to access the bolts. To change the differential on the older pilots you just need a 3/8 inch drive, it goes through two holes in the crossmember put there specifically for serving the differential. You do need to drop the spare tire on the Pilot though, so I guess pretty much a wash?
You absolutely do need 2 quarts of fluid. Do not think you can get by with 1 quart.