Nice description with the pictures!
I was removing the rear tire on my 2001 RAV4 4WD the other day, and one of the nuts had been cross threaded by the tire shop, so of course it broke off even after trying to gently work it back and forth for a while.
1) Went to AutoZone, got a matching lug nut and stud for $1.25 each
2) Chocked all 4 wheels so it won't roll in neutral
3) Parking brake off, transmission in neutral (thanks for the tip!)
4) Jacked it up, removed the rear wheel
5) Rotated the broken stud to the 2 o'clock position
6) Now to remove the brake drum....tried whacking on it with a rubber mallet a bit, but no dice. Did some searching on other forums and found that there are two threaded holes where you can put in bolts and they push the drum right off. They were a little rusty so I brushed them out and gave them a drop of oil each. Found some bolts that fit, gently tightened the two bolts evenly, and it popped right off!
7) Tapped out the old broken stud (a regular hammer was sufficient)
8) Put in the new stud, put about 6 washers on it and used the new nut to draw it in slightly to hold it
9) Replaced the wheel, tightened the bolts in the proper pattern
All done! Total time was about 20 minutes - definitely would have been longer without your notes to start with.
Thanks again!
Nick