Process seems straightforward except for one item:
5. Separate the halfshafts from the differential connecting flanges and tie them to the rear differential carrier

How is this done. Do the rear tires and knuckles need to be removed first ?

Under halfshafts it says to use a pry bar to "forcibly" dislodge a snap ring. This does not sound German.

 

REAR DIFFERENTIAL HOUSING
REMOVAL
1. Raise and support the vehicle.
2. Remove the propeller shaft. Refer to Page 3-26.
3. Drain the rear differential housing. Refer to Page 3-40.
4. Support the differential housing with a jack.
5. Separate the half shafts from the differential connecting
flanges and tie them to the rear differential carrier. Refer to
Page 3-4.
6. Remove the differential housing front mounting bolt (1).

Pages 3-4
REMOVAL
1. Raise and support the vehicle.
2. Remove the rear wheels.
3. Remove the muffler. Refer to Page 11-10.
4. Place an index mark across the halfshaft (1) and the differential
connecting flange (2) (as shown).

 

with what 0nehundered wrote and this it will be easy I don;t remove the drive shaft,, diff. in transmission jack, do that,,, muffler remove yes

first unbolt the drive from the flex joint. you may have to pry the drive shaft forward. drive will just hang there,
disconnect the shocks and sway bar at the lower control arm.(the lower control does not come out)
Pull down and remove the springs ( u may have to remove camber arm for this to pull down)
disconnect the suspension arms at the hub leaving the lower control connected.
pull down/forward and the axle will come out of the rear hub. with a little persuasion

pull / pop the axle out of the diff. u could pry a little at the diff on the axle.
unbolt the hanger bolt in the front of the diff
unbolt the two bolts on the rear frame at the rear of the diff
it will fall so have someone hold it as you take the bolts out

reverse this and reinstall jim

 

OK only difficult part for me is "remove the muffler" - just the muffler or whole cat back ?

My Judge is a lot easier.

 

whichever is easier.

 

test .........................