04 Rear End bad
 

My 2004 Expedition has developed a new problem. When putting it into gear it now has a pop sound. After looking into the issue it seems to be in the rearend. Excessive slop seems to be in the rear end. The U-joints seem to be fine.
Is this a job that can be done in driveway? ie: does the rear end need to be removed and can it be repaired fairly easy? Is there any special tooling required?
Any estimated cost for having it fixed?

Thanks