I recently had the rear axles out, and though I thought the bearings felt OK before dis-assembly, when I got it apart, I saw that they needed to be replaced. I tried everything to get the old bearings off. Hammer, torch, hot water, more hammering...I finally took the axles and new bearings to a machinist and he pressed the old off, and pressed the new on. I will never again try to remove those bearings without a proper press. Other than that, it is a simple and one of those "as long as you have it apart" things that you should do.
The pinion bearings are a whole different story and I replaced the seal but left the bearings alone...