Lift the rear wheels off the ground. Disconnect the driveshaft. See if you are able to lift/wobble the yoke UP AND DOWN. If you can, it needs to be replaced. If you are only changing the bearings, you will probably be fine not having to set the ring and pinion. Save and reuse the factory shims. Lets be honest, if you are reusing the ring and pinion, you are probably not going to make a better measurement than the factory did.
You can also raise the rear wheels off the ground, have someone place vehicle in drive and accelerate. See if the driveshaft is rotating in a circular motion, or more of a football shaped motion.
Now, bear in mind, many people feel you need to have a PHD in rear differentials to rebuild them. I read 1,000 posts, and was almost scared away from trying to rebuild mine. I rebuilt mine, without any special tools or measurements (other than a high torgue impact gun), 3 months ago. It rides like brand new still. I would recommend buying/borrowing a needle torque wrench, so that you can properly measure/set the pinion pre load. Other than that, its really a straightforward repair, like any other.
Sure, without calibrations to the 1/1000 of an inch, you might not get 200,000 out of the rebuild, but is the jeep going to be around that long anyways? Even if it is, you can rebuild it for 85 bucks yourself, so even if you have to do it a couple of times, it doesn't matter.