Mike00 has the correct instructions, And yes I have removed and replaced the left drive shaft on my RX300, so there are people here that do it... The use of a small crowbar my help a lot, the spring clip is what holds the shaft.. By the way I had a really hard time removing the axle from the hub, I suggest putting the axle nut back on and hitting it with a heavy hammer if it sticks, I tried wood between the shaft and hammer, but it cushioned the blows. The new axle shaft should come with a new nut. I replaced the seal on the tranny where the axle goes in, also another challenge when trying to insert the new seal straight. It can all be done, just takes patience.. by the way I removed the abs speed sensor before I banged the axle shaft out of the hub, I didnt want to risk any damage. It was dirty and had some debris on it. Toyota sells a Haynes repair manual for the Highlander/RX300 for around $15 which is really good for reference..Good luck