Is it worthwhile to change diff fluid?

I don't think I've ever changed diff fluid in my life on any of my vehicles, but I thought I'd ask how important it might be to others? My '09 F450 has about 95K miles, but whether it's a fact that diff fluid needs to be changed seems to be a myth by some, and important to others! Mine has the S110 diff, and as far as I can see the only way to get the fluid out would be to suck it out somehow?

Anyone have any thoughts/advice on the importance of diff fluid changes?