I just replaced the upper joint (joint closest to the rear diff). There was a 14mm bolt that I had to loosen all the way, and then the yolk slid out of the rear diff. Then I cut the rubber boot on the axle, and slid out the upper half of the driveshaft so that I could get to it and remove the u-joint.
Hope that makes sense. I don't have a picture handy, or I would show you what I mean.
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