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If you have drums on the rer yes you do have to remove the axle its simple though you unbolt the 6-8 bolts on the end of the axle then it just simply slides out thats it there mite be some resistance but there isnt anything else holding it in. and you dont have to worry about putting it back into the same spot eather just slide it back in and line up the drum.
This sounds like the hydroboost unit is leaking.behind the master cylinderThe braking system on this using the power steering pump to provide power assisted brakes instead of a brake booster. The hydroboost unit most likely needs replaced.
Here is the diagram,It is always a good idea to only disaasemble one side so you can use the other side as a reference,I also reccomend using a set od brake pliers,they will the disassembly and reassembly much easier.
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