I have a Haynes manual on Camry's '97 through 2001 (I have a '99 4 cyl. myself).
First - Yes, you do have a separate housing for your differential. I mention this because it is my understanding that Toyota combined the transmission & differential housings in later models (or, at least, so I've read).
Second - According to Haynes, you should be checking the differential fuild level every 15k miles and changing it every 30k miles (for reference, you should replace your transmission fluid every 30k miles as well).
The differential drain plug is located about a foot or so behind the transmission drain plug. The check/fill plug is above it. Because this is a "check" plug as well, guess what? There is no dip-stick! You'll need to remove the check/fill plug and use your finger as a dip stick to ensure that the fluid is level with the bottom of the plug hole (make sure it's not hot!).
Unfortunately, both plugs are next to the driver's side tire, so they are rather hard to get to. You'll likely have to lift the car or put it on jack stands (so be careful if you decide to do this yourself).
According to Haynes, your V6 differential takes about 1.7 quarts of DEXRON III Automatic Transmission Fluid (ATF).
Third and final - Your dealer should list all the things that they've promised to do during your regularly-scheduled vists. This should also be listed in a service manual that came with your car. Check these out and make sure that the dealer has done his job, both as he promised and as he was supposed to do. I'm certain he's charged you a king's ransom.
Good luck...