I'm fairly certain that you don't have to pull the axles and hubs to get the rotors off your truck. I haven't done it on my '01, though. Still, it's not really that hard. Just remove the calipers and anything else that would prevent the rotor from coming off, then remove the rotor just like you would remove a brake drum. This would be a good time to clean/inspect your parking brakes. Lube any points necessary with the correct grease. Install new rotors, maybe adjust parking brakes, etc. Put the calipers back on with the new pads and go break them in.