yes.. just did my dads 01 GC..
there is a retainer behind the hub with four nuts on it.. spray the nuts with PB blaster or something that will help brake down rust.... after all four nuts are off get your slide hammer on the hub and starting pulling on the axle.. eventually the axle will slide out of the housing and reveal the seal, bearing and retainer... all data says drill a hole in the retainer and use a hammer and chisel to brake the retainer so you can get the bearing off... i chose a torch and cut the retainer and bearing off( be care full so you don't cut into the axle it self.
Now you can slide the new seal on the axle shaft(before doing this pack the seal with some grease to lubricate it and then slide the new bearing down the shaft ( pack it with grease to) it will only go so far before you need a press.. make sure you press the bearing on with the press pushing on the inner race of the bearing DO not use the new retainer to press the bearing on because it will distort the retainer and the axle wont sit proper in the housing.. trust me i learned this the hard way.. and then press the new retainer on the axle shaft and reinstall into the housing.
tighten all four nuts and your good to go.. also top up diff fluid.. i pulled my cover and cleaned everything up before finishing up.
-1998 grand cherokee 5.9- custom intake, MTX sledge hammer sub with two JBL audio speakers in the rear doors and JVC deck, Westin safari bar with two 6' lights, Yakima load warrior with reverse lights, Hooker aero chamber muffler.