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Yes you but you won't get them out in the drive way.
Put the drive shaft in a vice such that it has something solid underneath it. Find something tht will fit in the hole where the U-Joint caps are located. Get a big A$$ hammer and wack it like it's Osama Bin Laden. Of course you will ned to remove any retaining clips that may be holding the caps in first.
But be very very careful not to hit the ears they mount in...or you'll be buying a new driveshaft....i found that a ball joint press works quite well to extract them....might give that a try if you have an autozone that rents tools nearby....and you can do that under the truck....