Sorry about the thread necro but I just finished this job on my 2007 Yukon XL Denali with 215K on the clock and wanted to provide a little more detail:
-The passenger side comes out relatively easily
-The drivers side takes a lot more finagling, but I found that if I left the mount-to-diff bolts on the passenger side off, and kept downward pressure on the diff itself, I could eventually work the drivers side mount out toward the FRONT. The new one went in the same way the old one came out.
-For both, the front-most bolt must be held with a ratchet + long extension from above, so I needed my son to hold the ratchet while I loosened/tightened those bolts from below. The one on the drivers side required a short wobble extension on the bottom to fit snugly on the bolt head. For the rearmost bolts, I was able to hold the top of the bolt from below with a ratchet and a 15mm socket while loosening the nut.
It solved about 90% of my clunking when going from coasting to accelerating. There is still a small clunk but that's likely the transfer case as there's a ton of play in the chain. There used to be a bang with the clunk and the clunk was much stronger previously. Well worth the 90 minute time investment to do it. I used OEM AC Delco parts from Rock Auto.