Lift the driveshaft of the wooden block and gently slide it to the back of the vehicle.

The driveshaft slip yoke will simply slide out.

Remove the driveshaft from under the vehicle and place it on a suitable place (large workbench or even the ground)

Remove the snap ring that secure the bearings. Use a pair of pliers and squeeze the angled ends of the snap ring together. this will compress the ring.