I'm not sure if you're still reading this topic, but hopefully it will help someone...
I don't know about the 2001 model, but the 2000 model's driveshaft bearing was super easy to replace.
I have the 2WD version as well, and if we're talking about the same bearing, then it is very easy. All you need to do is remove the four bolt that connect the front driveshaft to the rear (it's after the bearing). Then just disconnect them by pulling on the rear driveshaft. After that remove the two bolts that keep the bearing in place and u should be able to pull out the whole thing from the transmission. Take it to a machineshop to have them get the bearing off of it.
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