Okay.
remove tires. best to do both sides at once so that they wear at the same rate (or similar at least)
when replacing ujoints, I use pb blaster liberally (better than wd-40). you need a few specific parts...male torque set to remove the brake caliper, a rather large C-clamp is used to compress the cup and allow you to pull the caliper from the rotor. hang this up with some zip ties, don't let it hang by the brake line.
remove rotor.
remove cotter pin holding the cover over the stub axleshaft nut. remove nut with proper tools (you may wish to use pbblaster again and also clean up the threads with a wire brush). use a brass hammer or large brass punch pressed against the end of the stub shaft, and smack it with a regular hammer to push the axleshaft back into the axle. this will allow "easy" removal of the hub.
using a female torque set, remove the 3 torque bolts holding the hub assembly to the knuckles. then using the hammer you will have to hit on the edges of the part the rotor goes over on the hub. don't smack it in one spot too much...go around it in a star pattern. hopefully it will come out without upsetting the bearing cage.
pop it off, slide off the dust shield, slide axle shaft out.
take a grinder/cutting wheel and use it to make a line/notch on the inner and outer shafts so that you know which side matches which (you don't want them out of balance on re-install)
take a torch and torch the center/close to the inner ends of the cups off. it's much faster to remove this way. the center will fall out leaving you with both sides of the shaft seperated.
using the bench clamp (vice), tighten it to less than the width of the ujoint end of the shaft, but more than the cap. using a punch or the ball end of a ball pin hammer, hammer the caps out. be careful to NOT hit the actual shaft. repeat 4 times
then get the new ujoints taken apart, be careful not to lose the rollers, set the central part of the ujoint inside the shaft. next, slide one cap over the ujoint from the outer end (careful not to lose rollers) and slide ujoint in as far as you can. hold ujoint and tap cap with hammer to get it in. do the same with each side, and when you're done, you need to cradle the joints by the ends and hammer downwards before you put in the retaining clips...this will protect against binding (they can't be too tight or too lose or they will fail).
insert grease fitting and grease until each cap accepts grease.
re-install in reverse order of removal.
this way it takes 2.5 hours per side if you're good, 3.5 on first try in my experience