Yes, kit comes with all parts needed to replace everything with new except for the shafts and lobro joint (just re-grease that part).
And yes, you have to pop all the u-joints off to get the bearings on.
Just make sure you mark the shafts to the other shaft before removal so you put it back exactly the same orientation or you may get vibration at speed. And be very careful with the body pan studs that the bearings mount to. Use proper liquid wrench to treat the threads before removal of nuts and use anti-seize when reassembly. If you break a stud, you will not be happy.