I will say from experience that this is doable but with qualification. I have done this on both my axles and on my wife's rear axle (she also has a 2wd GC Ltd.) 1st you should replace pinion and carrier bearings as either could be the culprit and while it's open do both. Also do axle seals while in there as you could damage those during the repair and removal. It is most important to take notes and record things like pinion pre-load. Get a factory service manual. Do not damage or mix up any of the factory shims as you remove the carrier and the pinion. I took the carrier and pinion to a speed shop to have the old bearings removed and the new ones pressed on. I had success with using the factory shims, maybe I was lucky but I haven't had any problems and my repairs are 2 & 3 years old and my wife's repair is 1.5 years old. If this already sounds like too much then take it to a reliable shop. I took my 1st Jeep to a "reliable" shop and that is what made me learn to do this myself.
Mine '97 White, ZJ Ltd, 5.2, Up-Country Suspension, Kolak ignition, Kolak/Magnaflow Exhaust
Her's '98 Chargold ZJ Ltd. 4.0 2wd
Our 1st '97 White, ZJ Ltd, 5.2, The parts Jeep for 5 years...R.I.P. Sent to Pic-A-Part 5/17/2013