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I replaced the left front bearings and seals a couple of months back. It is not a problem but be careful as you dismantle the system and of course the reassembly of same. Be sure to replace all bearings and seals as you probably don't want to do this job twice at the cost of parts. No special tricks and relatively easy job.
I had the same problem with my 97 Suburban & replaced all the same stuff before i found out what really was wrong. it turned out to be a front wheel bearing. my abs would kick on at low speeds under 10 mph right before completly stopping. there is an electrical sensor in the wheel bearing that was malfunctioning creating the illusion the wheels were about to lock up therefore kicking on the abs. now all you have to do is figure out which wheel bearing is the source of your problems. if i were a betting man, i would stack my chips on this solution. good luck.
You say the rear wheel axles and bearings have been replaced, you mention nothing of the front wheels, you have the symptoms of a front wheel bearing being worn out, remove them and check for pitting in the bearing rollers or the bearing races, I am sure you will find a problem. Hope this helps solve your issue with the bearing noise.
the bearing has to be pressed on by a machine or mechanic shop with the press. the tie rod is fairly straightforward just be sure and count the number of visible threads on the adjustable side, but i would still suggest an alignment after replacement. to remove bearing you will need to rent or buy the axle nut socket,then just take it to someone with a press.