It's a straight forward unbolt the one and bolt on the other - I didn't use Warn, I used SuperWinch hubs, and my vehicle is not an 01 Tracker, but a 98 Grand Vitara.
Now when all of that is said and done, and the manual locking hubs are in place - you will still need to maintain the pneumatic freewheel mechanism in working order - removing that or permanently engaging it is another, somewhat more complicated task.