It may depend upon the system you have (I think the owner's manual describes the options). My son has the All Wheel Drive version with dual range transfer case so the front axle is driven all the time, but only about 10% torque to allow full operation on dry roads without any transmission judder. As the need for front axle drive increases then the front axle clutch in the transfer case receives increased electrical energy to increase torque output to the front axle. It works seamlessly on my son's Explorer.
We drained the front differential oil through the fill plug using a suction pump. Refill with 2.7 pints (1.3 liters) of Ford recommended Motorcraft 80W-90 differential oil, but we used Castrol 75W-90 Synthetic differential oil. We had planned on removing the cover, but we did not have the time.
Good luck.