Visually. Once you slide out the axles, it's only 4 bolts to remove the two large main caps. Just pay attention to the shims and put them back if they fall out. I didn't even have to completely remove the posi.. I just moved it out an inch or two and peeked at one of the bearings. I could see pitting, so I went ahead and removed it completely. It's a fairly heavy piece, so don't drop it.
I bought new bearings at Napa and took the posi to a machine shop and they pressed the old ones off and put the new bearings on. Charged me $50 to do that. No need to remove the ring gear, just be careful not to chip it when you're carrying it around.
Try to match up the same brand bearings. If you remove Timken, replace them with Timken. That way you won't need to adjust any shims.
Put the posi back in (a bit of a pain) and the shims. It should go in snug, with a few taps with a dead blow hammer. Remember to torque the main cap bolts to 60 lbs.