First, detach the ground (negative) battery cable. Then, safely lift the car and hold it in position with jackstands. Place the shift lever into Neutral, and release the parking brake before starting work. Apply paint, a scribe, or a hammer and punch to stripe the driveshaft and differential flange, so when you reinstall the driveshaft, parts will match up exactly to keep the drive's balance consistent. Unscrew and remove the joint bolts at the back axle, while rotating either the drivetrain or tires to help you work. For 2WD models with separate driveshafts, loosen and remove the four center bearing support bolts. Lower and pull back the driveshaft from the transmission end, unscrewing any connecting bolts inside of the transmission. Before pulling out the driveshaft, protect your transmission from losing fluid or getting dirty by wrapping the transmission housing in a plastic bag, attaching it with a rubber band for Sidekicks, X-90s, Vitaras, and Trackers. Carefully wipe the cleaned transmission area, then take the plastic bag off. Afterward, check the oil seal thoroughly. Connect the driveshaft to the transmission, while on 2WD models with two-pieces, align the center bearing stand and bolt it in place at a right angle to the driveshaft lines. Line up the driveshaft rear with the transmission entrance as you slowly lift it, and make sure the marks line up. If necessary, turn the wheel to match. Lastly, use a torque wrench to tighten bolts and nuts to their right specifications.