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A YJ Wrangler or a TJ Wrangler?
A YJ should be no problem, assuming the two axles are about the same width. Just pull the crappy Dana 35 out, cut and reweld the Toyota spring perches to match the spacing of the Jeep's leaf springs, and bolt it on. You would get a pretty big lift by doing this since you'll be going from spring under to spring over.
The brake lines would need a little bit of attention 'cause the Jeep stuff is probably SAE and the Toyota lines are metric.
I know I've seen where people swapped a Toyota axle into a Cherokee, but haven't heard of doing it in a Wrangler.
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