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If you have an impact wrench you should be able to loosen everything without spinning the shafts much. The halfshafts are designed to withstans hundreds of lb-ft of torque so you could just jam a bar in somewhere to wedge the shafts from moving.
Dose everything with PB Blaster daily for at least a few days before trying to loosen nuts or bolts. I have found that PB will free up anything that isn't rust-welded together, but it may take a few days.