There are a few good videos on it. You can access it from the inside rear of the hub, but it was easier to remove the wheel and caliper, believe it or not.
I wasn't sure how well the factory rotors would continue to perform. They were fine, but I got a great deal on a full rotor and pad kit so I decided to replace them.
New Power Stop pads and rotors all around. I hate the torx screw that "holds the rotor on the hub." Stripped one out so I drilled it out.
Bought everything as a kit from an off road online store. They sent the wrong rear rotors, so I had to get a ride to parts store. They only had super...
I recall replacing the front rotors on my WJ often. I had to replace the rear sway bar with a thicker one. Those were the two inherent issues with most WJs.
I had the 4.7 HO as well, and it's fun. Too many other things started to fail on my jeep, so I traded it in.