The insurance warranty I got with my car says the following about the "Drive System (Front/Rear)":
Included: Crown wheel and pinion, half shafts, half shaft oil seals, bearings, planet gears, bevel gears, rear external drive shafts, constant velocity joints, 4 wheel drive units.
Excluded: Beam axle and bearings, radius arm and bearings, rubber gaiters drive flange together with all other parts not listed
In my experience, the policies are usually pretty similar between insurers but its worth you checking your fine print.