I did it by just disconnecting the rear sway bar links (replaced them at the same time) You can get the whole assy. out without dropping the rear frames. It took some time and a curved 13mm box end wrench but its not a horrible job.

Several posts here helped quite a bit.

-John

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John
2001 ML 320
1988 560 SL
2009 Toyota Tundra TRD
1992 400 E (sold '07) (bought back, '13)
2008 ML 350