you couldn't loosen the original BJ castle nuts? they are only 90ft-lbs, a little more than wheel lug nuts. what tools were you using? last time I loosened MOOG BJ castle nuts with a borrowed from Autozone 1ft long open end wrench (1-1/16'' if I remember correctly), no problems, but that was fairly fresh install from 6mo ago.
on OEM BJ castle nuts you ought to use 19mm crowfoot 3/8'' dr, 3/8'' dr extension 6'' long, adapter to 1/2'' dr and a breaker bar (or 1/2'' torque wrench from HFT with loose handle setting), it works nice too. have you switched it to reverse setting when working from below? mind the perspective. spraying PB Blaster helps too, it penetrates threads in as little as few minutes.
if you loosened the castle nuts easily, but was unable to pull it out then this tool is your friend:
http://www.harborfreight.com/3-4-qua...tor-99849.html
screw the heating and beating it with a hammer, you will just damage other parts when doing so, this separator works like a charm.
I agree on cleaning the hub bearings on the axle side, all that dirt could have been cheating the ABS sensor easily. I see you still have original factory bearings with the idiotic rubber seal on the inside. that rubber side went to shit on my car and allowed bearing to rust (and disintegrate upon removal). the new revised Toyota design on wheel bearings is all metal on both sides (no more rubber seal), should hold up much longer than the stupid original design.