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In general you have to drain the rear end, remove the cover, remove the carrier pin, remove the axles, then remove the carrier from the main shaft and replace the bearings.
Remove the rear cover then remove the 5/16 bolt that holds the 3/4 inch diameter steel pin in then push the pin out.Now push the axle inward and take a pair of needle nose pliers and pull the c clip out then you can pull the axle out.
you will need to remove differential cover. drain out old fluid first! rotate the axle so you can get to the cross pin, and remove it by undoing a bolt that holds it in place. be careful to not let cross pin get lodged where you can not extract it ! the axles are held in by a c-clip on each one. then slid axle out. you may need to push on outer end of axle to release the c-clips. good-day !
No.....after removing the brake caliper and rotor, Unbolt the axle retainer plate from the axle tube flange. You need a slide hammer to pull the axle out.
you must remove brakes, then remove axle nut, then remove upper control arm and finally tie rod stabilizer, remove axle from car then bearing can be accessed. this is a difficult job that requires special tools so be careful
Wheel, brakes etc that are in way of pulling axle out have to come off. Drain rear end fluid, remove rear housing cover, remove bolt that holds pin in differential, remove differential pin, push in slightly on axle to remove "U" clip that holds shaft in, then slide shaft out. replace seal. Reverse procedure for re-install & fill with gear lube. If any questions, get back to us.
you will need to take off the differential cover (drain and change diff oil at this time)
rotate the axle so that you can get at the cross pin and remove it by undoing a small bolt that holds it in place. it should slide out with ease, but i have had them stick, take care not to let the cross pin get lodged where it is difficult to extract
a single C-clip is holding each axle inside the differential housing
you will need to push in from the outer end of the axle, while simultaneously manipulating the C-clip off of the inner axle, repeat this same process on the other side
Fig. Rear axle seal and bearing components-2002-05 exc. 2005 Grand Cherokee Hope this helps, please dont forget to rate my solution. 
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