X2 - if you can change plugs, you can do this!95% of the time you don't have to change the setup when installing new bearings, but yes everything has to come out. If you pay close attention to where everything came out and you put it back together the exact same way you will be fine.
Things that can suck are pulling the inner bearing off the pinion without a press and bearing puller, and crushing the crush sleeve can also be PITA.
Well if that's the case. Run the outer stub shafts and drive it to the place it'll need to done at. I would give Kevin at Jeepers Creepers a call Jay.My concern though, is that if the R&P is beat up now and needs new gears, then I'm stuck (not that my TJ is a stranger to tow trucks...)