Actually you can do it on the floor(I did), some guys have said to stand the ATV up on end as you mentioned. Removing the left front tire is a must. I had all the plastic off because I went from orange to green if you didn't see that link. Only real problem on my rancher was holding the front diff out of the way to install the shaft. I was working alone. With some help I could have saved 10 minutes at least.

Really a different machine with the disconnect. My smallish 12yo daughter has no problem turning it now. Worth while upgrade, to bad honda doesn't provide it.