do one at a time so that the axle doesnt shift too much. it is not necessary to jack the jeep up or take the tires off. I have done this many times with the jeep just sitting there parked.
here's a good trick you might find handy. to push the pinion down away from the jeep, use the stock bottle jack between the frame and the edge of the pinion. Works pretty good and no need to fuss with ratchet straps and chains, or jacking the axle up and down to try to get it to line up.
1996 Jeep Grand Cherokee. V8 - 5.2 litre 242 SelecTrac. SURCO Safari Roof Rack
1997 Jeep Wrangler Sahara Ed. I6 - 4.0 litre, 4" SL, D44 rear, 4:56 Gears, AA SYE with double cardon custom rear Drive Shaft, IRO Adj CAs, Kevins Rear Adj TB with JOHNNY JOINT end
1999 Mazda Miata MX5 - Jet Black
1990 Jeep Cherokee Sport I6 - 4.0 litre