Drew's technique looks good.
One additional suggestion is to cut a piece of 2x4 that is the side-to-side width of the frame rails at the torque-tube. After disconnecting the u-joint at the end of the torque-tube, push the u-joint back into the torque-tube and push up the torque-tube. Then, place the 2x4 under the torque-tube and between the frame rails. This gets the torque-tube completely and safely out of your work area.
