That's really not a bad estimate. Assuming you have a 35 in the back. Because to change both pinion bearings you are going to have to reset bearing preload with a new crush sleeve (PIA).
Serpentine is pretty easy, 02 sensor is very easy with the correct wrench. Changing fluids in everything would be a good idea if you got deep in it. $100 worth of fluids may save you thousands in new trans, xcase, etc.
Just an overhaul kit for your 35 is $130 (includes bearings and crush sleeves).