The book says take off the hub, but you don't need to. Undo the track rod end, undo the control arm (attached to lower ball joint) (2nuts, 1bolt), prise apart with large screwdriver. Don't bother trying to take out ABS sensor, you won't move it. If you must move the hub and drive shaft out of the way completely, unplug the cable from behind the wheel arch cover. I just left the assembly lying on the floor pushed to one side. Undo the 2 large bolts at the bottom of the suspension leg, you should now be able to yank the assembly out of the gearbox, it's not tight. You may think you have to undo the 6 allen screws on the coupling but you don't, it all comes out together.