Not too crazy either about having the engine running & gears shifting while car is on jackstands, and on just 2 ... On a lift, no issues. If you were to try it, definitely would have to chock the rear wheels and do it in Park or Neutral, those are the 2 gears where the driveshaft is not engaged. Don't know if it is important to row through the gears for the PTU like it is for the trans. I do see this in the 2013 MKS manual:
PTUs without a drain plug
NOTE: The lubricant capacity of the PTU is 0.53L (18 oz).
[list type=decimal]
[*]With the PTU lubricant level even with the bottom of the fill opening, remove as much lubricant as possible from the PTU using an Oil Suction Gun 303-D104 (D94T-9000-A).
[*]Refill the PTU lubricant level even with the bottom of the fill opening and install the filler plug hand-tight.
[*]With the aid of an assistant, rotate the front tires a minimal of 3 times in the same direction.
[*]Remove the filler plug. Using an Oil Suction Gun 303-D104 (D94T-9000-A), remove as much lubricant as possible from the PTU .
[*]Refill the PTU lubricant level even with the bottom of the fill opening and install the filler plug hand-tight.
[*]With the aid of an assistant, rotate the front tires a minimal of 3 times in the same direction.
[*]Remove the filler plug. Using an Oil Suction Gun 303-D104 (D94T-9000-A), remove as much lubricant as possible from the PTU .
[/list]
I would much prefer to R&R the fluid, drive around normally for a few hundred miles, then repeat, esp. if DIY'ing.