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Never worked on a Lexus. Did replace this axle on a Camry, should be similar.
One of the harder steps is loosening and after installation, having to retorque the axle nut. On the Camry this torque is 217 ft-lbs. You will need the right size socket plus a very large breaker bar. Read past Camry posts covered the topic of removing the nut.
Remove the ABS sensor (if you have this), the caliper, rotor and complete knuckle assembly. Mark the location of the rotor on the hub so you can install it in the exact same location. You will need a pulley to remove the steering tie rod end. On the Camry, the lower ball joint bolts to the lower suspension arm. You may need to wrestle with some of these parts to get them on and off.
Once everything is removed, pry out the axle. Some fluid may leak out of the differential, use a drain pan. The inner axle is held into the differential with a snap ring. It can require considerable effort to pry out the axle from the differential. There is a notch on the inner joint housing that should be used to engage a par bar. Do not try to pull out the axle using the shaft, this will not work. Make sure you do not damage the oil seal in the differential housing.
Once the axle is out. Compare it too the new one. It is possible to get a very similar but wrong axle from the parts house. Compare the old axle length with the new one. If have ABS, make sure the new axle has the sensor ring.
Put a little grease on the new axle where it installs into the trans. You want the snap ring grove to be facing down when installed the axle. Keep dirt off the end shaft by placing something over it until it gets to the differential housing.
Be sure to guide the inner axle shaft straight into the differential, you do not want to damage the oil seal during installation. Once installed, push firmly to engage the snap ring. This may take some effect and repeated attempts.
Once done, reassemble in reverse order. Be careful not to damage the outer joint boot when reassembling the suspension. Check with Toyota to see if you need to use a new axle nut, it was recommended for the Camry.
If required, replace any differential fluid that may have leaked out.
Take your time, do not get frustrated if you have to wrestle with the parts a little.
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