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There is nowhere enough lateral movement between the two parts of the shaft to get the joint out. Even of there was, it wouldn't make any sense to beat a joint out while the shaft is sitting in a needle bearing cage. If you remove the hub bearing unit to take the needle bearing out of the picture, there might be enough clearance, but at that point, the shaft is literally 5 more seconds to remove so you can change it in a vise or on a press.
that is not true. you can easily remove the front u-joints without taking the axle out by simply burning them out with a cutting torch. but you can not put the new ones in without removing the axles from the housing.
Not to mention if the axle u joints are bad odds are the stub axle needle bearings are wasted and the stub axle needs replaced, or repaired. Cheaper to replace.