[BE55]

Is it doable without removing pull rods?

[Jetnoiz]

Interestingly, I was under the rear differential today wondering about this too. I connected the following tools to access the plug:
Extension rod connected to half inch ratchet
Universal joint
14mm allen/hex socket
I stopped because I want to make sure there were no separate drain and fill plugs, correct? Additionally, I want to purchase new plugs with fresh seals before starting the procedure.

I look forward to additional replies.

[Vortex8]

There is only a fill plug, and it should be refreshed when changing the fluid so good thinking there.
You are lucky that you can access it without removing the rods. I have a vibration damper in the way and in order to get that one out I need to pull the rods, because I can't reach the damper screws otherwise...