That is how I rebuilt my IRD.
I wasn't even keen to actually remove it, but I have an inspection pit in my garage which made the job so much easier.
Having done it and put it back together again, I'm much more confident to take on other jobs needing doing.
You just need as much, safe, clearance under the car as possible, a 1/2 decent socket set and a selection of extension bars - some of the nuts/bolts I was undoing from the wheel arch.
However, if the prop is off and its not running smoothly, or there abouts, I'd be wary about other damage. A bearing kit rebuild is only as good as the gears you are reusing. The crown and pinion gears can be to far damaged and need replacing. Once that happens, I recon it is more economic (cheaper) to simply buy a recon IRD - or buy a used 12 in better condition and rebuild that.
With mine the pinion bearings were totally shot. If I pushed it 10 foot there was an almighty bang as the gears slipped. But with the props removed, it drove almost normally, a slight tick only.
I think you need to drain the oil in your IRD and see what comes out. Crack the fill nut first with a good fitting hex socket as they are made of cheese. Have a look at what comes out, the oil will probably look metalicy with the ground bearings suspended in it, but hope not to see any chunks because that will be teeth from gears. You can also remove the rear pinion to examine the teeth on the end and the gear it mates to.
Also try and make sure the problems are not elsewhere, examine the drive shafts, rear diff etc.
If you rebuild the IRD, you will need the rear diff to be in good condition and not worn, and you will need a recon/recon yours VCU. Unless...
With mine I got the diff shop to remove the gear on the end of the pinion. So its 2WD, but all the gear was reinstalled back onto the car - and the rear wheels turn the prop. It has run perfectly since then, but obviously it can't go places it went before. Actually, its been to more remote, off road places since being 2WD! Up river beds miles from anywhere up in the mountains, until it won't go no further. Then I just jump in one of the other Landies until we are back to collect the 2WD Freelander

But I do miss being able to go down the beach fishing.