Inner pinion bearing check: Engine off, transmission in park if auto or in gear if manual, (stops drive shaft from turning), lift one rear wheel off the ground while making sure the other is fully planted, (keeps one wheel from turning). Now watch pinion end of the drive shaft carefully while trying to rotate the free wheel in both directions, (doesn't hurt to have someone else turn the wheel). First note that there should be very little range of rotation, a couple of degrees may exist due to the stack up of axle spline clearance, spider gear clearance and ring and pinion clearance. The motion at the input side of the pinion should be a very tiny amount of rotation and maybe an almost imperceptible front to back motion. When new those bearing are set up with a preload so larger amount of motion in those directions, (if the driveshaft rotates some check front U-joint and backlash stackup through transmission, some is normal), or motions in any other direction indicates bad bearings, (or improper installation if recently repaired or installed). I don't like to even attempt to reinstall gears after they have been through bad pinion or other bearing issues and am not sure I would use any other meshed parts after exposure to the metal in the gear lube. I am going through this now with my shop suv and the scarcity of used parts and overall poor condition of the body after 16 years of Wisconsin's winter road salt, I think it's done.
J