Yep, like David says - it's a relatively simple job on a U class. First off with the body, then remove the four sideways screws that retain the ventilated cover plate over the motor compartment. Remove the cover and you can carefully lift up the motor, disengaging both worms from the drive gears. Re-quarter the wheels as necessary, then lower the motor back, making sure the worms mesh with the gears without messing the quartering up again - if you do get it a tooth out at one end, just lift that end of the motor again and turn the gear one tooth. Replace the cover plate to secure the motor in place.
All done without having to dismantle or disturb any of the running gear or motion.
Jon.