On the differential end, mark both halves of the U-joint, so it can be reassembled in the same position. Remove 4 nuts from the u-bolts (or 4 bolts from the u-straps), push the driveshaft forward slightly to split the u-joint. Lower the differential end of the drive shaft a little, run several layers of tape around the cups on the cross piece. (This will prevent the cups from falling off and spilling the needle bearings). Then, while supporting both ends, slide the driveshaft rearward and out of the transmission.