I did mine in the jeep. If you hold your mouth just right, you dont even need to remove the front yoke or shaft. I removed and installed mine without doing it. This was with installing a new chain, since my old one had stretched a little too much for my liking. If you have never been inside of a Transfer case, you may want to take out and do it on the bench to make the actual re-assembly easier.
Without any experience, you should be able to easily do a SYE kit and CV install in 4-6 hours, assuming you have the proper tools, namely big HD snap ring pliers and a socket/impact for the yoke if you plan on taking it out, and are mechanically inclined.
~James