Are you sure its not just backlash in the LR drive train?
Rear is a lot easier than the front...
Just a question of taking the cap and/or drive flange (not sure!) off the middle of the hub, and sliding the shaft out. If you do one side at a time and jack it up so the axle is sloped, and replace before putting back down you don't need to drain the axle .
Front is more involved...
Take the wheels off, brake callipers, Undo the hub nut, and take the hub off. Then its 6(?) bolts to take the Stub axle off. Once this is off the whole CV and halfshaft will slide out
HTH