If you get the correct axle, yes, it's a bolt-in. Does the replacement need to be LS? Non-LS gives you a better chance of finding a transplant.
Yes, there IS Pinion Angle. The idea is that the connection between the rear end of the Driveshaft and the "Face" of the Pinion Input (the Differential half of the Rear U-Joint) should square up. In other words the U-Joint should be Straight Onto the Differential. Naturally the ride height of the van comes into play, and the adjustment is normally done with Shims under the Axle mounting to the Springs.
Here's why I'd like to see you replace the entire Axle: IF this failure resulted from low lubricant level... Or if it caused lubricant loss and was driven that way for awhile... Then the Rear Wheel Bearings are also probably damaged. When the lube is at correct level, it works its way into the rear hubs and that's how they're lubricated. You may see discussion of packing rear bearings on this type axle but it's only needed when they've been apart, drained of lube, cleaned, etc. Then new seals and an adjustment process are required.
Therefore, much cleaner to just get a GOOD axle assembly. Remove the level plug and see if it's full and the lube looks, well, like lube. Plug will likely have a magnet on it. If it's full of metal shreds, find another axle.
I ended up leaving for lunch before posting this, so some of the above is duplicate...