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That extension bar does sound like the right tool to try the service manual procedure for the passenger side. I was lucky and had 1/2" EMT "pipe" laying around my father in law found and it "worked" as well as the service manual intention. I slammed it good with a large sledge and that EMT solidly on the CV flange about 100 times. It never budged the CV cup. But when my father in law went to the driver's side and rotated the tire back and forth while in the air, the passenger side CV cup both flopped off, and the new passenger axle slid on within seconds and no real effort. But it took us 10 hours of work to get to that.

On the MDX driver's side, there is also only 1 window where you can lever a pry bar against the transmission case behind the CV cup. It took some real effort and about 20 pulls but we did get it off in less than 30 minutes.
I have spend over 6 hrs trying to remove passenger side axle and I have see this post about rotating the driver side tire bacnk and forth in the air and it still not budged. Do you have to do anything on the CV cup light wedging a pry bar or something. Do you need to do any pulling on the cv cup..All I see when we rotate the tires, the CV cup would just turn as with the tire rotating. Do we need to put in Neutral maybe? Any help would be greatly appreciated
 

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No you don't put it in neutral as you want it taking up the slack in the drive train as you rotate the tire.

I didn't have to tap or pull on the cup, but I had also cut the rubber boot completely off and yanked the axle out of the inner CV joint from frustration.

You can't pull on the CV axle unless you are ok just tearing the old rubber boot too. But if you are still having trouble I would either tap on the CV cup with an extension as someone else rotates the driver's tire.

Another way you can find on Google is to wrap a chain around the cup and use a slide hammer. Supposedly that works without the rotating trick, but didn't for me.

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I did the same thing as I got so frustrated that it won't budge, the axle and rubber boot come out of the cup. I guess I will have to see how I can try the tap with the extension rod. Seem impossible as I don't see how I can tap from that angle. Will give it another shot per the suggestion
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Great news. I finally got the axle cup out using a 17in pry bar that about 1/2 in diameter. Slide the bar over the exhaust pipe as in the diagram noted above. Hammer it with a 3lb sledge and it started to move and slide off after about 10 hits. Thanks every for the help and suggestions. Now, I can start to the new one on. Hope it's easier to put in then to take out.
 

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It's a lot easier to get the axle back in. I just align it with the grove and give it a few small tap and it snap in nicely. I use GSP CV axle but forgot to check where it was made. I wish I checked before purchasing as I prefer Made in USA. Now that I have experience, I'm pretty sure I can knock this job out in and hour for both axle if it needs to be done again. By then I might have giving this SUV away. Thanks again to everyone that provided helpful suggestion to get the job done. Someone on youtube suggested a need for realignment. Wondering what other thing about that suggestion. I'm thinking to drive around to see if an alignment is needed.
 
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