I can't speak for the Rodeo but with the my Trooper, I had to remove a section of the exhaust but not the crossmember(this may be different for you rig). However even with that I was done the complete job in less than an hour.
Good Luck.
Mark <img border="0" alt="[Nerd]" title="" src="graemlins/nerd.gif" />


1995 Trooper LS (OME Coils & 2" spacer, Rancho 9000, Nitto Terra Grappler 34", K&N, ARB Snorkel, Calmini Rear Bumper) In garage (9000 winch, custom S. America winch bumper, Delta Cams, Tera-Low 3.07)