1998 GMC Sonoma I have gear oil in my passenger side break

I have a bumping sound when taking off from a stop. I beleive I have to replace seal in rear axle and will probably have to do the bearings (probably why the seal is leaking). I've never done this before. Do I have to get into the pumpkin and pinion gears to get the axle out? Any special tools involved to get the axle out other than socket set?

Thank you.