The easiest for me is to take off the rear assembly and engine plate.
The rear assembly (diff/towers/arms) can come off in one chunk. You will need to take the fuel tank off first.
1) Take off the lower shock screw of the shock on the rear arm that is on the front side of the arm. (both sides)
2) Flip the shocks up out of the way and take the bolt of of each side that go through the upper part of the chassis plate.
3) Take out the 2 bolts on the outside of the TVP's that hold the skidplate cross bar underneath, one on each side.
4) Take out the 4 bolts that hold the engine plate/mount, two on each side.
At this point, you should be able to pry the TVP's away from the rear "pod" and the pod should come off as one piece.
5) Disconnect the header spring/header from the engine and swing it out of the way.
6) Take out the two screws that are holding the engine plate to the trans case. The screws are on the bottom, one on each side. Make sure to disconnect the ball cup from the carb first.
Now you should be able to do what you need to to the brake assembly.
Diagram for above:
I don't have a stock tank, so ignore the two L bars by #2 and #3. Those are my tank brackets.