I am no lubrication engineer, nor have I launched a research mission in to this, so grain of salt and all that.
From what I remember, and based on some assumptions on my part, GL-4 is a suitable lubricant for hypoid gears but at the pressure forces that were common at the time and met the requirements of the day. Given the continually increasing power and loads that differentials were being subjected to, which I assume was likely the catalyst for developing GL-5, something more protective of the gears was required. GL-5 has almost double the amount of the additives that provide protection to the gear surfaces and offers far superior protection than GL-4. Given the far superior protection offered by GL-5, GL-5 became the standard for differentials regardless of what the actual need was.
However, the higher concentration of these additives is also harmful to the so called yellow metals used in manual transmissions, such as the synchros. Consequently, GL-5 could not be used in the majority of manual transmissions. It could only be used in differentials. As a result GL-4, even though it was a hypoid gear oil, became regulated to use in gear boxes and GL-5 became the standard for differentials.
Again, this is based on what I think that I remember learning/hearing/being told years ago and may be completely off the mark. I'm just offering a thought.