See this picture:
Then I found out that I could rotate the whole thing by putting the van in Neutral. That would have made the whole process go much smoother. Once I got things rotated, I was able to get the bolt out, the shaft out, and remove the c-clips so the axle could slide out. After that it was easy.
Now everything is back together, but the cover is not yet back on because I am considering getting a new one because this one is much more rusted that I originally thought. That means I will have to wait until tomorrow when I can make some calls.
However, at this point the end is in sight.
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