Realize it's not too difficult and have already done them on a dana 30. The question was about Susquehanna Jeep, not the warranty or the work.
The warranty lists axle shafts, axle shaft bearings and "seals and gaskets for listed components", so I have no doubt that it SHOULD be covered. However, some Chrysler dealers seem less inclined than others to provide the coverage, and was looking for guidance if there is somewhere else I should go.