The half shafts are pretty easy to replace on your own, with the shafts being about $60-70 a piece. The bearings are more involved, usually require a press, and not something I'd take on unless you're a pretty experienced mechanic. I'd make sure that both bearings need to be replaced. It could be that its only one side going bad. Also, if they are replacing the bearings, there should be no charge for labor to replace the half shaft, as they more or less have to remove those to replace the bearings anyways.
Based on labor charges from around here, I'd say the $382 is about right.