Before you can remove the drive axle, you will need to loosen the drive axle hub nut and the wheel lug nuts; put the car on jack and support with the jack stands before you take off the wheel. Subsequently, one needs to disconnect the wheel speed sensor with the knuckle, and remove the brake disc fitted on the hub. Regards only the strut to steering knuckle bolts and unscrew without completely disconnecting the tie-rod seperating the end from the steering knuckle arm. Next remove the 
Ball Joint to the steering knuckle with the other one and lowering the 
Control Arm to take out the strut to knuckle bolts. Place your fingers between the hub and the knuckle and push the drive axle out of it while holding its end with a piece of thin wire; your other hand should pull the steering knuckle up and away from the strut. For installation, align the knuckle and hub assembly while putting the drive axle into the hub. Thrust the knuckle into the strut flange and pass the bolts and nuts through the holes but do not lock them. Place the ball joint to the control arm or subframe and tightened the pinch bolt but leave the nut slightly loose. Secure the tie rod to the steering knuckle arm and tighten the respective strut bolt nuts as well as the tie rod nut as requested into desired torque; replace all worn cotter pins with new ones. Mount the brake disc to the hub and assemble the caliper, and the wheel speed sensor. Last, before raising the vehicle, allow the technician to fit the drive axle/hub nut and Toyota tightens it partially, with the final torque to be applied when the vehicle is on the ground. Mount the wheel and the lug nuts and lower the car before pulling the lug nuts as tight as the recommended torque and finally, rotate the drive axle/hub nut before pulling tight to the recommended torque.