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Quick video on the rear wheel bearings on a '99 Jeep Grand Cherokee. These are the same from '99 to '04 WJ's
Affiliate links to the parts I use
Bearing kit amzn.to/3V6tkEs
Rear seal amzn.to/3PE0ryn
Axle retainer plate, if you need one amzn.to/3V8m6zX