You are right, the lug nut torque is 475 FtPounds. I have no problem taking my lug nuts off using a 3/4" breaker bar, with a 12" socket extension, and a 4' pipe for leverage. I use an adjustable jack stand to hold the breaker bar in place, and then I can put all of my weight on the pipe extension to break the lugs loose. Even stand on it if I have to. On the plastic hub cover, if you rotate the wheel properly to put the drain on the bottom, you can remove the plug and drain the lubricant. Order new rear seals for the hub and replace them while you have the assembly off of the vehicle.
Then it is basically a take things apart and reverse the procedure to put things back together. I also changed my front brake lines at the same time since it was a lot easier when everything was apart. After all, the hoses on his rig are now 11+ years old and you have to bleed the system anyway. Probably a good idea to flush the entire brake system which will take 3 quarts of brake fluid. If you have a 3/4" socket and breaker bar, this is something you can do yourself as long as you realize that everything is heavy and it is easy to pinch a finger or two. The rotors and the wheel assembly are heavy.