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I have spent the afternoon hammering, ratcheting, swearing and bleeding, but the U joints (drivers side) have been successfully replaced! Tomorrow (passenger side) should go smoother (since I went to the store and bought some MORE tools and won't have to improvise anything (21mm deep well for example) .
You folks were a wealth if information, from diagnosing the problem to links on step by step instructions. I still had to take the half shaft to PEP Boys to have them press out the old and install the new. However, $63 per shaft plus $32 in U joints each side is a HECK of a lot cheaper than the $1300 I was quoted (cheapest) to replace the 4 U joints.