Will 00 quadradrive front end swap into 02 quadradrive with no problem?

I have an 2002 jeep grand cherokee quadradrive and the front axle assybly bent. My cheapest option is finding a replacement at the junk yard.
I found an 2000 jeep grand cherokee quadradrive. So, I am curious, can I swap the 2000 into the 2002 with no issues ?
The yoke on the end of pinion on the 2002 is for u joints while the 2000 the yoke is cv axle. So im assuming i just take of the pinion bolt and swap the yokes and just swap the axles completely without issue? I am going tomorrow so any help would be very much appreciated. Thanks

Will 00 quadradrive front end swap into 02 quadradrive with no problem?