If you have open diffs then regular gear lube should be just fine for the axles. If you have limited slip then you will need to pick up lube that has the additives for limited slip. It should say on the bottle. As for the trans, if you pull the inspection plug you can check to see if it runs gear lube (brownish and thick) too or trans fluid (trans fluid should be red an thin). I believe that it runs trans fluid. Just pick up a couple of quarts of auto trans fluid and you should be fine.
I can never find time to do it right the first time, but I always find time to do it again!