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It's been a long time since I took a double cardan CV joint apart and repaired it, maybe someone else can chime in on that, the single joint end is a fairly simple operation with some patience and a place and tools to do the job.
If you don't want to fool with it, there should be an outfit...
For around a couple hunnert bucks, you can get a hoist. If you hang onto a Jeep, eventually, you'll need one. Might as well start getting your shop put together.
http://www.harborfreight.com/1-ton-capacity-foldable-shop-crane-93840.html
I've done it with a hydraulic bottle jack and blocks of...
Properly set up, "2" wheel drive is surprisingly capable. If you modify the differential so that power is actually getting to both wheels simultaneously.
What are your expectations of the rig?
I've driven a LOT of pickups, spud and grain trucks, and plain ol' station wagons with locking...