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Yep, if the lever sticking out of the tranny does not offer any resistance and you have full hydraulic travel...then u will have to drop the tranny.
Generally, the lever keys into a sliding bushing onto which the transfer bearing sits. The bushing rides on a splined shaft coming out of the tranny. The splined shaft mates with the main clutch plate.
When you step on the clutch pedal, it pushes on the lever via the hydraulic cylinders to force the bearing against the fingers of the clutch plate. This in turn forces the clutch plate to spring and disengage.
Again, can't tell u much about a 4 wheel drive Rodeo...Mine is 2WD auto and I have never had (so far) to go under it. So I don't know what it looks like under there.
My pickup was a 4 cyl in-line. I had to use a BIG jack to get all wheels off the ground onto jackstands. My tranny was a small 5 spd so I used a floor jack to lower it. I would recommend a transmission jack if ur going to do this.
DRAIN the transmission before u start. If u don't...u will wish u did. The oil will start flowing as soon as u remove the driveshaft.
I replaced the clutch as well as the pilot (transfer) bearing. Biggest problem for me was getting to the bolts on top of the tranny where it was bolted to the engine. Except for that and laying in oil in a cramped space without a proper transmission jack, the job was not too terrible.
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