Axle bearing/seal remove-replace is no big deal with the Ford C-clip axles.
Remove the drums or rotors.
Remove the diff cover.
Find the diff pinion gear shaft retaining bolt (lock pin) and remove it.
Remove the pinion shaft and pinion gears.
Push the axles inboard as far as they will go.
Remove the C-clips from the axle ends in the diff.
Pull the axles out of the axle housing.
Pull the axle oil seals out.
Pull the bearings out.
Check the bearing race surfaces on the axles to make sure they're in good shape....no grooves or obvious signs of wear.
Drive in new bearings.
Drive in new seals.
Push the axles back in place using care not the scuff the new seals.
Replace the C-clips.
Pull the axles outboard.
Replace the diff pinion gears and pinion shaft.
Replace and torque the pinion shaft retaining bolt (lock pin) 15-30 lb/ft.
Replace the diff cover, black silicon rubber seal, torque bolts 25-35 lb/ft.
Reinstall the brake system.
Refill with new 75W140 synthetic lube (and friction modifier if required for the limited-slip diff.)
Then sit down and eat your cake.
The following only if the rear end gear set is making any noise such as a high-pitched whining noise while under load. The noise can be at almost any speed.
While you're in there you might check the pinion shaft bearing preload and adjust it to specs. An old bearing set should have a turning torque resistance of 8-14 lb/inch. If the value is too low, the pinion shaft nut must be tightened a bit at a time until the resistance is achieved. The check and adjustment should be done before the brake system is reinstalled. Of necessity, the drive shaft must be dropped at the differential drive flange in order to make the check and adjustments.