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Depending on how much lift you have and how much room there is to work, you may want to jack up the Jeep by the frame and let the axle droop. Get a big drip pan under the entire differential. Test for a breeze - oils blows!
Get out a ratchet and socket and loosen all of the bolts that hold the differential cover in place. I like to remove the top and bottom bolts first and leave the middle ones for last. When you are down to the last 4 bolts in the middle, loosen them several turns and if you are lucky the cover will pull away from the differential. You may have to pursuade it with a rubber mallet. Do not pry under the cover or hit with metal hammer. Let all of the fluid drain into your pan.
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