My 2001 Explorer sport has a wobble noise i can sometimes feel on the floor. How can i determine if its the bearing or if it is something else like a seal?

Sorry to say it sounds like you have a bent axle, If you mean Drive shaft when you say propeller shaft, then that's either because you also bent the driveshaft or you have u-joints that have gone bad. It sounds like a mess, Did you hit something or run over something? Rear axle don't just get bent form nothing. Has there been a grinding noise for awhile coming from the rear area? Your axle bearing or wheel hub bearing may be shot causing the wobble,

I had that same problem on my Toyota pickup once and replace the wheel. No more problem. Wheel must have had a certain warp to it. Normally though, this wobble you feel would be a burnt spot in a rotor. But you've replaced that.

or the transmission

Have you checked the tires ?
Sometimes a wobble can be a broken belt inside the tire tread.
Or it could be something loose in the hub.
You could also switch the front and rear tire to see if the wobble moves.

how do i pull out rear axle from my 2001 ford explorer sport trac

By servicable, you mean packing the bearings with grease? NO, they a sealed unit, when they make noise, replace them

could be a bd axle or ball joints wheel bearings are also a concideration

might have a fluid leak it is a hydraulic clutch see if there is fluid at the bottom of the trans bell housing

you may have to take the rotors back off completely and look for the baby brake shoes behind the rotors because sometimes they will hang up and give you some of the problems you are having

well, you have none on that vehicle.. they are all sealed bearings...
They started eliminating them in the late 90's and only if you replace something i.e u-joint ect... the new parts will have grease fittings on them....