honestly.. I would NOT go to the dealer for this work, but instead find a good local garage to do it. (Not a chain like monroe muffler either). You could probably save almost 1/2 the cost. For software updates, you might need to go to the dealer, but a trans fluid change/filter and rear diff oil is cake work for any good garage.
Now, if you check and most are charging close to the same price.. then go to the dealer of course.