has anyone changed the front propshaft output bearing in the transfer box

I was servicing the autobox, diffs & transfer box yesterday & noticed some play in the prop where it enters the transferbox.
The oil level is ok & i have no leaks.
If any one has replaced this bearing i would like to know if it can be done in car or box removed & do you need any special tools for the job

I have looked in the workshop manual but it dosn't show a breakdown of the parts.
Any help or pointers would be great,
thanks Andy.
