Yes, remove exhaust downpipe, remove driver side axle including that axle bar (2 bolts and remember to loosen axle nut before you lift the car off the ground) and remove transfer case (6 bolts IIRC). Tie your driveshaft up to the 4ws lines or something else close by so it does not hang down and stress the joint.
I'm not positive on this but I think you will also need to drain trans fluid. Maybe t-case fluid too, unless you hold the t-case upright when removing it so fluid doesn't leak out.
No, there is no easier way to do it. T-case is a pretty easy removal process. Exhaust may be a bitch if your bolts are rusted. Axle + bar is fairly easy, just a pain sometimes to pop it out.
You also need to remove turbo oil drain tube from oil pan (2 bolts).
Then remove oil pans bolts and carefully use a putty knife and rubber mallet to break the seal.