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I tend to over maintain things. So if they are the original front outer axle U joints I would replace them. That will bring up another long neglected seal. The inner axle seals. After you drag the axles out the filth filled axle housing tube the inner seal will not be happy. If it isn't leaking...
I have changed many U joints. A hammer and socket is a last resort. I should say never to seldom. A C-clamp U joint/ball joint press works best and is much easier on the U joint. I never melted the nylon out either. It was that old and brittle it disintegrates when I press the joint out.
Also...
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