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Do you really have to take out the front differential change oil pump on a 1995 Toyota 4Runner w 3.0 3vze engine?

No, you do not have to remove the front differential to change the oil in a 1995 Toyota 4Runner with a 3.0 3VZE engine. The differential has a drain plug and a fill plug accessible from underneath the vehicle. You only need to remove the cover if you're doing a more extensive repair or need to inspect the gears inside.