Take off the brake caliper and disk. Remove the small bolts in the dust cover. Now you can turn the dust cover and give yourself access from the top both front and rear. Take a drift of 10 or 12 mm and a 5 pound hammer. If you soaked it for a night it should come out in about 5 or 10 minutes. Hammer from both sides on the top.

If you have the axle out of the hub it will be very easy but you need to go at it with a good sized hammer. I just did mine a week ago on the 4.4i and it is a bit of a chore but they do come out. I left my axles in the hubs. Good luck.

__________________
2003 4.4i black ext./black int./black headliner (kid's runabout)
2014 535d X-drive, M package, silver/black interior

Sold but not forgotten:
2009 E70 35d, black ext./black int./black headliner (sold 2021)
2006 4.8iS Le Mans blue/cream int./black headliner, SOLD in 2012 sadly...

Other hardware:
2015 Cayenne S (wife's new DD and definitely wroooommmmm)
2016 Tundra 1794 edition crew cab, luxo hauler
2005 Tundra crew cab, weekend hauler. Sold after 150k very happy miles.