Mac, see
https://www.turbodieselregister.com/forums/showthread.php?t=78076 .
I did both mine a month or so ago. Not bad, just work. I also thought I only needed one, but after doing the right side joint, I decided to pull the other axle and check it, sure nuff, two of the caps were dry and on the road to fail, so did both. This was as 180k. Replaced with greasable joints from O'reillys, lifetime warrenty.
If you do a search under ujoint in the 2nd gen section of the forums, you'll find a lot to read. But I'll share a couple of things I did that most don't which I think speeds the job.
1. I did not remove the wheel adaptors. This ment that the wheel/hub bearing could not seperate. Also I didn't have to fight the carter key and the big nut on the end of the axel. The total assembly is heavy, but not bad. While installing the new joints, I set the wheel studs down on the work bench, then using a big hammer as a back up on one side of joint, tapped on the other side of the joint with a smaller hammer. The additional substiantial mass of the still assembled unit gave needed stability to everything.
On the reassembly, I set the rotor on a small floor jack to support the assembly while I guided the axel back into place.
2. On the back of the rotor you'll find 4 bolts that you remove to pull the axel assembly. They also locate the dust shields on the back of the rotor. It's a bear when working alone to position the two pieces of thin metal plate and reinstall these bolts.
To help, I cut the heads off to long (12mm?) bolts the same dia as the factory fasteners and installed them in the most accessable of the four bolt holes. They acted as guide pins allowing the installation of two bolts, then remove the dowels, install the other 2 bolts. You'll see what I mean.
One last bit of seldom mentioned advise. Before you pull the axel, (passanger side) put the truck in 4 wheel drive, make sure it's in, then turn the key off. This will position the 4x4 actuator so the axle reinstall goes smoother.
And one last thing, I'd carry the old ujoint with me when buying the new one, I had a bit of a tif with the counter person, the one they swore I needed was too small, a trip to the truck and the original corrected that.