This if for anyone that has to remove a rear drive axle. I just remove one today so while still fresh in my mind. My left rear u joint at the wheel sheared off so I had to replace. I removed the shaft from the upper u joint by taking all the c clamps out to remove from the cv joint. There is a bolt holding one of the joints to the tranny. Remove the bolt and with some work the joint will come out. There are no clips holding it in place so if it doesn't come out easy keep working it will. I used a 4 foot pry bar and a hammer. Rotate the joint from time to time it will move out a little each time just keep it up, it will finally come out. If that doesn't work...I don't know what to tell you. After about an hour it finally came out.