The quickest and easiest (as long as you have the tools) is to leave the inboard side of shaft alone and pull just the outer joint portion with the special tool. I don't know who did the write up for that but I am pretty sure it's on here somewhere.

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1988 325is (purchased new) sold
2004 X5 3.0 2005 X3 2.5
2008 X5 3.0 (new to me)