Rear Axle Bearing Replacement
That absolutely sounds like an axle (wheel) bearing. Jack up that corner of the truck and grab the top and bottom of the wheel, and shake like crazy. If you have any play whatsoever, it's a sign of a bad bearing (although you could have a bad one and not have any play - it would only mean the bearing isn't worn badly enough to cause looseness in the wheel).
You should be able to remove the axles without opening the diff up. If the axles have c-clips or snap rings on the ends inside the diff, you can usually get the axles out by dismounting them from the hubs and getting them free of all attachment except the diff, and then use a large flat-tip screwdriver as a pry bar. Use it right where the axle body mates to the diff, and lever it while you pull/yank/shake/swear at the axle, and you'll manage to pop the axle out of the diff. Sometimes it takes some time and profanity, but so far it's worked for me everytime.
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