I just took mine out. DO NOT FOLLOW THE FACTORY REMOVAL!! It makes it easier to remove EVERYTHING like the service manual says but you do not have to. Drivers side took me an hour the "Correct" service manual way. Passenger side took me 20mins "My" way.
Remove rear wheels
Drain diff fluid into a drain pan
Remove the 3 drive shaft dampener to diff bolts
Remove brake caliper
Remove axle nut
Remove upper camber arm
Remove lower leading arm
Remove lateral arm from body (do not need to take the joint part off the knuckle)
Remove lower control arm bolt and pull the knuckle from the LCA
Push axle stub through the hub
Pry axle over the c-clip in the diff
Support diff with a jack
Remove rear diff bolts
Remove front diff bolt
Now grab a buddy and slowly lower diff while someone else holds it on the jack
Once below the rear x-member pull towards back of the car to remove from driveshaft