Wow, lots of differing opinions here. I have to agree with Mario above, and a few others. I change my brake fluid yearly, so naturally I'd recommend changing that out. You can't tell by color or any other visual whether it's good or bad. It's cheap, so change it. Like you said, wifey poo on the pedal with a book, beverage or something to keep her happy and you underneath with the bucket and wrench. On the steering-I hate to admit but I've only changed mine twice in my 5 years and 75K. Once because I did and once because my factory line wore a hole in it and I had to. I need to change it again as it's been a few years and steering works quite hard regardless, and moreso off-road. ATF +4 for that. On the coolant, I've replace mine twice with factory Mopar HOAT. Once because I felt like it and once because my fan clutch failed and dealer did it for me. It's a 5 year fluid though so for you-yes, I'd do it. For me, I'll wait one more year then do it.
Other fluids-you mentioned a couple years ago changing TC, Tranny, diffs. I'd recommend changing those as well, even with such little mileage. Wheeling is hard on stuff and fluids are cheap insurance.
On the axle joints-believe it or not but with the hard use I've done on my rig and the 75K miles on it now, I am STILL on the factory shafts. I recently tore them apart though to change joints and was glad I did-they showed signs of excessive heat and were bone dry, in my mind-ready to take a dump at any moment. I'd swap them out too just for giggles so you know it's done and won't have to worry for another 5 years. Standard spicer 760's is what I put back in and what I'd recommend. They're cheap, work well, and last. That should about cover it. Just my opinion-take it for what it's worth.
Best of Luck,
Mike