Is it a drum parking brake or is it using the disk brake.
I only ask because my Jeep has disks at the rear, but the parking brake is a drum brake, this is adjusted through a small hole on the back, no need to remove the wheels.
My wife's minivan had disk brakes and the parking brake operates on the same disk, no idea how to adjust that, sorry.
Hope that helps (a little), otherwise google and youtube always help me.
1990 Glendale Royal Classic
2005 Jeep TJ Rubicon