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Are you talking about the half shafts or the driveshaft? The halfshafts should pull straight off (after you take the nuts off of course :) ). You might want to spray it all down with WD40 and rotate the wheels. This will probably break them loose, if not you might need to pry on them off. For the driveshaft just leave it and lower the diff it'll pop out.

Also pressure wash to your hearts content. I doubt it will clean those up much.
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