I have never done it with a non body lift 4x4, but I have done it to a 2WD with no lift. I know the 4x4 tcase adds some mass to have in the way, but it seems like it wouldn't make it 100% impossible. Just pull both shifters and the skid plate, get a tranny jack, and expect to spend a few hours wiggling things around. Install would be the same only in reverse. If the body really is in the way, 4 bolts and it could be lifted 2-3 inches. Body mounts are two behind the seat, and two under your feet. There are two right at the radiator support, but they would flex enough to lift the rear of the cab enough for some extra room.
Alternatively, bite the bullet and pull the motor and trans together, shave an easy 3-4 hours off the total job and get the chance to clean the motor up real nice. A new pan gasket and front/real main seals would be an easy job with the motor out as well and would be well worth it. If you have to rent/borrow equipment anyway (trans jack for the hard way) you might as well get an cherry picker engine hoist. You can have the motor/trans free with I think four hoses, two fuel lines, and maybe half a dozen to a dozen wires/harness connectors. Of course you'd want the radiator out of the way, and a few other items, but nothing really too major.
I didn't mean to advocate pulling just the trans, just to say I really believe it is possible even without a body lift. No arguement that it is hard enough to avoid at pretty much all costs.
