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I don't see how you can replace a U joint without removing the driveshaft. It entails pressing out the old bearing caps and needles and pressing in the new ones using a vice. Unless you can buy the whole assembly, yoke and all, but that is not usual. The parts place should sell the repair set of 4 bearing caps and needle rollers and the cross piece, which fit in the old yokes.
I bet they are all the same sizes, but they should tell you at the dealer. They are not at all expensive. They do require care in the installation procedure.
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