Remove...
wheels, drums or rotors, the cover for the differential (You will need a drip pan)
remove the "pin" (usually a 5/15" or 8mm head) that secures the spider gear pin. Remove the long spider gear pin, as it should slide out without a lot of force.
Push both axles inward, and remove the left and right "c" clips that hold the axles in.
Note... if you have a limited slip, it may be a little different of a set up due to clutches in the differential.
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