Jack the front of the jeep up to take weight off the joints. Grab the top and bottom of the tire and wiggle it.
You have to strip the axle housing bare on both sides, that's why the labor charge is high. Brakes, hub assembly, axle shaft, and outer knuckle have to come off to change the joints. It's not hard at all unless you have a nut that doesn't want to come off, or something like that. Grab a service manual and tear into it!