It's a little wiggly, but you should be able to access them enough to measure them with the vehicle on the ground - worst case, take the tyre/wheel off and you'll see them. The D30 is an "open knuckle" axle.
You'll have to dig a little deeper to change them - the tyre/wheel has to come off, the brake rotor has to come off, and the hub bearing assembly has to come off. You should then be able to pull the halfshaft out through the steering knuckle, replace the joint, and reinstall the shaft.
Do you have a U-joint press or a vise, or do you plan on taking them somewhere to do it? A vise and a couple sockets (one larger than the cup end, one just a touch smaller) will serve in a pinch.
I find it helpful to paint the caps with Never-Seez before they get pressed in - makes it easier to take them out next time (there will be a next time, don't you worry about that!)
5-90