It is possible to do this yourself if you have the right tools. By this I meam a torque wrench that will read from 0-20 inch pounds to set the bearing pre-load on the pinion bearing,a pinion depth gauge to determine the right shim selection for the pinion, and a dial indicator with a magnectic base to set up and check the backlash.You should use some marking compound (white lead) to check tooth contact pattern also. I would definately look at the axles and bearings too. It can be done but it's not for the average shadetree mechanic!
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