Of course. Carriers stay in the car. Get a long 6 mm hex key socket for the axle flange bolts; it helps a lot. Undo the 32mm nuts from the axles while the car is still on the ground. Just pop the wheel center caps off and remove the nuts. Once the car is in the air and the shear plate & exhaust cat pipes are out of the way, remove the axle flange bolts. Nce they are out, you can slide the cv joint out of the axle flange. Now pound out the axle from the wheel side and remove the axle.
The job is fairly straight forward. Post if you get stuck.
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