Front floormat & ****** cover out> Speedo cable disconnect> Frame up on four jack stands> Rear wheels off> Rear brakes, including parking cable off at torque tube> Rear shocks free> Clamshell off> Banjo up on floor jack> Spring mount disconnect> Roll driveline assembly out with floor jack 6" only> Remove U joint. Reverse the procedure and bleed the brakes.
First and foremost, What symptoms are you having that tell you you need to change your U joint?