I would only add oil if it needs it. Gear oil expands and creates a lot of pressure. But keep in mind the differentials have venting caps. These are supposed to close when submerged. I would not trust them; so if you should submerge your axles I would definitely check for water in there.
I'm getting ready to check all my differentials, transfer case and transmission for proper oil levels.
I don't trust anybody at the port or at the dealerships for any shenanigans that might be happening with the Toyota brand these days.
to caveat the vents, if i remember correctly the front diff vents in the engine bay, the rear needs to be re-vented higher (have seen on the 5th gen where people put the vent next to the gas cap)
not sure on the center diff if you have the FT4WD version.
this is to ensure yout diffs dont suck in water when fording water