I don't know if auto rx would be needed with only 60k on it IMO.
Providing it was fairly well taken care of. If it were mine, i'd probably just use a good quality synthetic which should help clean the motor.
I searched on Amsoil's website for your vehicle and this is what i found out.
Front, rear, and transfer case require a 75/90 gear lube and i would highly recomend Amsoil 75/90 Severe gear synthetic for all 3. It is probably the best you can buy for your diffs.
Your transmission requires Toyota synthetic WS fluid ONLY according to their website, so do not use anything else unless your owner's manual says differently. Amsoil ATF is compatible with Toyota type T-IV, but not WS. They will try to tell you the trans does not need servicing until 100k miles. But if it were mine, i would have them do it anyway. Have them drop the pan, clean it and refill with the proper fluid.
Whatever lube they use for the driveshaft will be fine.
I have had some good experience's with Amsoil ASL 5w30 for the engine with EAO57 filter, and it should hold up great in that motor. The 4.7 has shown some low wear numbers here on bitog, so almost any synthetic would do a fine job. Your rig does suggest using a 30w oil though.
If you're not going to go extended oil drains with this rig, you can use Amsoil's XL line which is priced closely to mobil 1.
Here's a link if it will come up. Note # 2 suggests you use a synthetic base oil for the diffs.
http://www.amsoil.com/scripts/runisa.dll?amsoiloaf:index