I've got some free play in my rear wheels, when I push on them from side to side.
Looking closely I can see that my cross axis joints are shot!

Any tips for swapping these out at home?

 

"There's your problem"

 

Rear axis joints done yesterday, not a difficult job
I used the kit from FTBR and it's definitely an upgrade over OEM.
Here's the steps I took recorded in a video if anyone needs help:
Now for the rest of the IRS...