The outer shaft is easy to remove, just remove the 6 bolts attaching the inner shaft to the outer, remove the hub, remove the snap ring on the end of the outer shaft, slide the shaft out between the lower A-arm and the frame/A-arm mount.

The inner is also fairly easy, you will need a slide hammer or a piece of wood and a regular hammer. Either attach the slide hammer to the end of the shaft and knock it out that way or place the small board on the inside of the shaft and hammer it out that way. There is a small ring on the inside of the shaft make sure it comes out with the shaft or fish it out after, just make sure you get it all, it completly incircles the shaft. If you don't get all of it out you'll be pulling it back out again later and replacing the whole 3rd member.

This can actually be done with the vehicle sitting on the ground except to slide the outer axle out.