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My pics from a couple years ago, doing that very work (while replacing the dog bone ends). I can cheat when lifting, due to the massive trailer hitch on my truck.

Here is my view of the world: No, you really want the weight off the trunnion to assess/adjust and also grease properly. That means jacking up the frame until both axles are hanging free. Yes, it is a bit of a pain. What you CAN do with the wheels on the ground is to take the covers off and...

That is a fine piece of service work. The rear springs look like new.

I can confirm that, after pumping what seems like much too much grease in with the pneumatic grease gun, it came out on the back, pushing all the old grease and gunk out. I did that after taking the caps off and installing a grease zerk and inspecting the bearings (were fine). I had the axles...