Yes,
1. Mark the driveshaft so it goes together the same way it came off because it is balanced (or should be). I usually mark it on the knuckles with a punch, or chalk works. Just don't rub it off. Take out the hanger bearing bolts.
2. remove the bearings from the rear end.
3. Tape up the bearings on the rear knuckle so they don't fall off (unless you ar replacing them).
4. The rear shaft will pull off the center near the hanger now, or you can pull the whole thing out of the tranny.
Oil will come out of the tranny so get a catch pan. Also a good time to replace the rear tranny seal and the driveshaft knuckles. Check the tranny and rear end oil levels when reassembled.
