It is very easy to remove your axle to get to your seals as you have seen in the write-ups. something like - drain diff oil, unscrew 4 bolts, tie up brake line and emergency brake, and pull out axle assembly.

The hardest part of it all is finding a mechanic who can pull off the old bearings and press the new ones on. The problem comes in where the press machines do not have "molds" to hold the larger size brake drums that come on the 4Runner. Once you find a mechanic who can do this, the rest is simple!

I have a bunch of pictures when I did mine so feel free to email me at jataga@att.net and I can send them to you.

OH, you might want to order an ABS speed sensor gear just incase the old one cracks when the mechanic pulls it off.
-John

Here are a few write-ups I did on mine...

Here is what the toyota book has on it.

Here is what another Toyota book has on it