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Pry off Axle nut dust cover. I used a small chisel to do this.
Be careful not to damage the cover, as it will be reused.
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Pull out cotter pin from axle and small nut cover.
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Take off the axle nut using a 36mm socket.
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Take out the four small bolts that hold the lower ball joint
onto the spindle.
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Slide the spindle off of the axle and out of the way.

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Cut the boot clamp on the inner CV boot to release the axle
from the tripod joint.
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The entire Axle will slide off of the truck at this point.

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You have to remove the tripod bearing from the axle in order
to replace either the inner or outer boot, thus bringing up the point that
if you tear an outer boot the inner will also have to be replaced. Toyota
sells the boots as a kit containing inner and outer boots, c-clips, boot clamps
and grease.

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To remove the tripod bearing, first remove the lower c-clip.
Its the larger of the two and the only visible one at this point.
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Once the lower c-clip is removed you can then slide the tripod
bearing down onto the shaft exposing the upper, smaller c-clip. Remove the
smaller c-clip and the tripod bearing will slide off of the axle.
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Cut off the old boots and clean your joints thoroughly.
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Re-pack the outer joint with grease. Putting the remaining
grease into the boot.
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Re-install the new outer boot making sure you equalize pressure
inside the boot. I used a small flat head screwdriver to do this. Clamp the
boot on tight!
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Slide the inner boot down onto the axle don’t clamp yet. You’ll
have to align the boot onto the joint before clamping.
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Re-install the tripod bearing by first sliding the tripod joint
onto the axle and installing the smaller, outer c-clip onto the end of the
axle.
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Slide the tripod joint over the smaller, outer c-clip and hold
it up while you install the lower, larger c-clip. Lookout on the tripod baring
so that you get the direction the same as it came off. One end of the bearing
has splines up to the edge and the other side does not. The side with the
splines all the way out faces the differential.
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Next pack the bearing and tripod joint on the diff. with grease.

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Slide the axle in to the tripod joint on the differential and
clamp the outer clamp first then the inner clamp.
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Now slide the spindle over the axle and re-install the four
lower bolts that hold the ball joint on the spindle.
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Reinstall the axle nut, cover and cotter pin.
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Reinstall the dust cover.