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If you have the back of the car held up by the jacking points or the frame so the rear axle is hanging then use a (presumably small) hydraulic jack and jack up the axle under the front part of the rear end so you're kinda twisting the axel as you go up. Obviously hold the arm in place as you go up too. You have to fiddle around to find the right spot to put the jack. Also, use a long and heavy duty Phillips screw driver (or something similar) so you can put it through where the bolt goes (aka the sweet spot) as you get close.
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