06 impala output shaft

Does anyone know if you can change the passenger side bearing on the transfer case out put shaft on a 06 Impala 3.5L in the car with out removing the transmission.
Thanks

Welcome AF, what transfer case, do you mean the differential?

yes differential replaced cv axle and wheel bearing still have a noise right side out of the case has play. 226,000 miles on car not going to drop transmission will drive till it dies if can't change in car.