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The Ford 9in is a piece o cake, but the Dana 60 that you are referring to is much more complicated. I am sure with a little guidance you will be able to pull it off.
I am hoping to change those out for something a bit taller like 3.54.
How hard is it to do? I have never done it before.
What is an average cost if I take it into a shop and have it done?
IMO, if you rank automotive tasks 1 to 10, I would put setting up a differential at an 8, maybe a 7.5.
First, your axle is an integral design, so it has to be worked on in the truck, or the whole assembly has to be removed from the truck to work on it on a bench.
From the "Articles" bar at the top of the page, this and the related articles will give you a good idea. Related articles are listed near the bottom of the page:
As for cost, you might figure it to be a 5 hour job from start to finish, so $500 give or take in labor. Gear sets are about $200-250, and bearings etc maybe another $100, probably less.