Oil life is determined by PCM. Use your best judgement to determine oil change interval.
Newer CR-V's have a larger rear differential, than eariler models. 4X4
Rear diff. chatter is common, hard turns low speed. Foward or reverse.
Starts around 10k and gets louder. You'll know it, rumble, chatter from rear.
Simple to fix. Change fluid. See dealer, covered under normal warr.
As for trans. fluid 15k is a good idea. Honda has had many trans problems the last few years.
Not CR-V's but a few other models..
18 years Honda Ser. Tech. What do I know.