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Centre driveshaft bearing service 200 1991

I have seen it posted here but cannot find it.
"how to stop your car from sounding like a Jet engine"
I understand it is the centre bearing that needs lubicated.
What is the easiest and best way to do this on my 91 sedan?
Do I need to pull the rear shaft right off? Do i need to pull the bearing off or can I leave it on? Do i need to pull the forward shaft off? Are there pitfalls?
Much Appreciated.
My haynes tells me to pretty much dismantle the entire car
--
91 Brick turning 400,000 this month






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