Disassembly
1. SEPARATE REAR DRIVE SHAFT INBOARD JOINT BOOT CLAMP

(a) Using a screwdriver, remove the 2 rear drive shaft inboard joint boot clamps as shown in the illustration.
2. SEPARATE REAR DRIVE SHAFT INBOARD JOINT BOOT
(a) Separate the rear drive shaft inboard joint boot from the inboard joint assembly.
3. REMOVE REAR DRIVE SHAFT INBOARD JOINT ASSEMBLY

(a) Put matchmarks on the inboard joint assembly and outboard joint shaft.
NOTICE: Do not use a punch for the marks.
(b) Pull out the inboard joint assembly.
NOTICE: Be careful not to drop the balls.

(c) Place matchmarks on the outboard joint shaft, inner race and cage.
NOTICE: Do not punch the marks.
(d) Remove the 6 bolts.
(e) Slide the cage toward outboard joint.

(f) Using a snap ring expander, remove the snap ring.

(g) Using a brass bar and hammer, remove the inner race.
(h) Remove the cage.
(i) Remove the inboard joint boot, inboard joint boot clamp and inboard joint boot No. 2 clamp.
4. REMOVE REAR DRIVE SHAFT OUTBOARD JOINT BOOT CLAMP

(a) Using pliers, remove the 2 rear drive shaft outboard joint boot clamps as shown in the illustration.
5. REMOVE REAR DRIVE SHAFT OUTBOARD JOINT BOOT
(a) Remove the outboard joint boot from the outboard joint shaft.
(b) Remove the old grease from the outboard joint.
NOTICE: Do not disassemble the outboard joint.
Test yourself
A quick Toyota Sienna quiz: every answer comes with an explanation and a link to the manual page.