It's not a bolt on swap, but as far as I know, it can be done.
Essentially you remove the transfer case from the back of the transmission and fit an adapter to take the jack shaft to the Samurai transfer case (Low Range Off Road should have the adapters) - you will need to fabricate transfer case mounts, new drive shafts, etc., etc., etc., the new rear drive shaft may need a CV joint (or double cardans) because the rear drive shaft will be at a compound angle (the GV rear axle has the diff in the center, the Samurai transfer case output shaft is offset to the right).
Have you considered replacing the axle gears - it might work out less expensive, it'll certainly be a lot less fabrication.