I say you do unless you have identical axles (unlikely with remanufactured) and you only have to replace the outer section and you leave the inner side in the diff. I'm talking 2nd gen Rodeo, not other models.

'01 Rodeo Sport, 5 Speed Softie, Indy 4X rocker bars, OME 912's, Rancho 9000X's, Superwinch hubs, custom tube bumper with Warn 9000i , Flowmaster 50, TeraLow t-case gears, ARB front & rear lockers, TrXus MT's, Sway bar disconnects