Assuming 4wd or AWD.
Remove wheel.
With someone in the car pressing on brakes, remove the center nut (pinion nut). I use impact gun once the retaining clips are off.
Now remove brakes (rotor and all)
Unbolt hubs (good time to replace them if needed).
Press hub off pinion. I use a large steering wheel puller/harmonic balancer puller.
Axle now will slide out of the hole where the hub was.
Consider replacing the ball joints at this time (use OTC ball joint press + the jeep specific adapters there is a slight angle to the inner C's and if you don't have the jeep specific adapters you will spend hours cursing .
Changing the axle (or hubs) is mainly an excercise it getting rusted bolts off. Changing ball joints - with the right tools - is not to bad.
Check with autoparts store for the torque values to tighten everything up.
Obviously check your brakes while you are in there.
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