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thanks, J.Fro,
I ended up using a propane torch on two of the bolts. heated it up for about 30 to 45 seconds and the bolts came right off after that.
in retrospect, I wouldn't use an impact wrench; I started to do so, and it began to strip out the head further. luckily, heating it up worked, along with tapping the hex socket into the bolt head w/a hammer to make sure it was seated properly.
One of the things you have to watch out for is that over time, especially if you've got CV grease leaking out, the bolt heads get gunked up. Consequently, you might not get the hex socket seated nicely, which will definitely result in stripping the allen head. After I did that to one bolt, I ended up taking some brake cleaner to the rest of the bolts and a Qtip. I then put the hex socket in the bolt and tapped it in with a hammer to make sure it was well-seated.
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