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I use a piece of metal with a hole in it larger than the end cap to sit the end of the d-shaft on, take the clips out (inside, have seen people not do this, also take out grease fitting), and use a socket a hair smaller than the u-joint cap to knock them out with. After I knock out on side, I flip it over and use a solid metal rod to knock the other side out (if not reusing). They still are a pain in the @ss though.
