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Replace the axle.
Get a Chiltons or Haynes manual, or download the FSM for free
Loosen lugnuts
Jack up the car
Drain the transmission
Remove axle nut - Better have a big breaker bar and man up! 250+ ft/lbs tq
Disconnect tie-rod
Remove lower strut bolts
Remove the axle
Replace seal on transmission
Install in reverse order
Make sure to grease threads on the axle shaft
Torque everything to spec.
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98 SE - VQ35
2k SE - Stock... pretty much
Boost, juice, conversions, been there, done that.
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