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the procedure is like for most other cars. Disconnect the pinion flange, slide the driveshaft out of the back of the transmission, and put something under to catch the ATF. Clean the rear seal area first so you don't get crud back inside when you put the driveshaft back in.
borrow a U-joint tool from an Auto parts store.
however, you have to be careful when replacing the outer half shaft ujoints. It is very easy to bend the outter yokes that attach to the spindle flanges. Those ykes have to be supported (bolted) to something.