The axle can stay in the truck...but you'll have to get the carrier out of the housing in order to get the pinion gear out(and the bearings pressed onto it). You'll need a bearing puller and press, as well as a magnetic dial indicator to check backlash, inch-pound torque wrench with dial to check pinion preload, and possibly others.

I suggest just bringing it somewhere. I can't supply step by step instructions, but ff you google "how to set-up gears", i'm sure the info you need can be found there. There's a book I reccommend, it's Randy's Ring & Pinions book called "Differentials". I learned ALOT from that book when I was considering setting up my own gears. It's more info than you need, i know.

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'01 XLT disguised as a '03 Fx4 Level II.