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Not sure if this translates to your own car, but to get to undo the 4 nuts at the inner end of the driveshafts (next to the rotors) I just drop off the lower shock mounts, let the driveshafts go to full "droop", then you can get to the nut positioned at the "top". Note that you will be binding the UJs in this position as you try to turn the driveshafts, so lift the hubs up a touch each time you need to turn.
Long extensions on a socket set should suffice. I use the handbrake to lock the diff to get enough purchase. 55lbs ft is the torque to do 'em back up again.
HTH
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Wilf
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