just inc case I'm not to late to the party.

raise the whole ft end off the ground to let the susp hang.
pul the wheels amd remove the large axle nut in the center( you can stick a screwdriver in the vents of the rotor to lock it in place)

remove the pinch bolt in the bottom of the spindle that secures the lower ball joint stud

with a long prybar or somthing similar push the lower control arm down to pop the lower ball koint out of the spindle. ( you DO NOT have to remove the sway bar)

once the joint is out of the spindle. rotate the axle and you will find a small ledge or edge on the inner joint hsg right where the inner boot attaches, snag a screw driver or something on the axle and pop it out of the differential.
slide a drain pan under there as it will leak out.

reverse to install.

you do not have to remove any speed sensor

let it down and run it around the block , ck'ing trans fluid level both before and after the test drive.