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The easiest way I know of if ya don't have a hand press is to take the axle out. There are two u-joints on this axle. Ya have to take the deferential apart to remove the inner clip that holds the assembly in. Ya prolly should get a cheap manual to walk ya through it. It's not that big a job but can be if ya haven't ever done one.
what year of truck you got first thing we need to know and you just need to go buy a new axle with new boots an grease there just CV joints better than going all that work and getting dirt in there just for it to do it again in a few months just unbolt from hub and give a good strong pull it will pop out but that is on the newer models that is its just like the front CV axle on a front wheel drive car
the hardest part i had doing mine was getting the spindle off. i did both outer front axle U-joints a few years back, i still have the oringinal inner U-joint on the passenger side shaft. take the tire off, then the caliper, remove your hub and rotor, there is 6 nuts/washers holding the spindle to the steering knuckle, once you get those off your at the point of probably needing a large shot-filled dead blow hammer. smack the spindle back and forth, once on the forward side of the spindle,once on the rearward side of the spindle. several times. once its freed up from the steering knuckle, slide it off. there is a metal clamp holding the boot where the axleshaft telescopes on the right side, remove that band clamp and pull the axleshaft out by hand. then you can replace that u-joint. now is a good time to check those ball joints, cause you'll need to go through the same thing to get to them. when you re-assemble things, just use a nylon zip-tie where the band clamp was on the boot and use anti-seize on the spindle where it seats into the knuckle after cleaning both parts up real good. getting apart the next time wont be as bad then. i had my front end apart again last spring to inspect the bearings inside the spindle and it wasnt nearly as hard to get apart due to using the anti-seize. you dont have c.v. axles, those are on the '98 & up trucks.
ok you dont have the CV joints then yea do like arctic and racsan said if you can get it all out you could check around i have a drive shaft shop near by that puts the joints in for 10 bucks an thats you pulling the axles and buying the joints saves alot time if you dont have a press