Halfshafts should just pop out of the diff; I've always just smacked the edge of the large rectangular bit that houses the tripod joint with a brass punch and a drilling hammer.

Quite the project; cant wait to see what #6 looks like.

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12 E70 3.5i xDrive
03 E46 330i ZHP
01 E53 3.0i
98 E36 323is
12 Audi A4 Quattro
79 Triumph Spitfire
73 MGB