Try this...
http://rkrenn.com/xterra/howto/bearing/bearing.htm
It is for an Xterra, but I used it for my 99QX4 with good results. Also, this is a procedure to re-pack the bearings, but I suspect that you can easily adapt for replacement, simply pack the and reinstall the new bearings rather than the existing ones (although a good re-pack may be all you need). I used it to pull the hub to replace some lug studs which had stripped, but went ahead and re-packed the bearings while I had it off. Everything "should" come free fairly easily. I tend to go to the hammer persuasion too quickly and did so with this job. Fortunately, I did not get too forceful with it and reviewed the procedure again and found something I missed initially. Once you remove the lock washer screws it pulls straight off, it won't twist, no matter how hard you beat it.
The bearing job is mostly labor, so if you can DIY it could save you some coin. Good luck.