Kizashi AWD L4-2.4L (2010)
3) Remove exhaust pipe No.2.
4) Drain rear differential oil.
5) Remove rear brake caliper.
6) Disconnect rear wheel speed sensor from suspension knuckle.
7) Remove rear wheel hub assembly.
8) Use tire lever (1) to pull out drive shaft joint (2).
NOTE:
Turning drive shaft may facilitate to release snap ring fitting of joint spline, while pulling out drive shaft.