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I've done exactly this, with your configuration (2nd bypass). You have to pull the axles: (maybe drop swaybar), skid plate, diagonal truss, and bypass pipes, disconnect axles at tranny (duh), undo wheel nut and tap axle assy inbd and down/out. I had to use a bearing puller on one side to free an axle shaft, hopefully yours isn't frozen in the hub.
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2002 Lapis Blue Boxster S
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