If you have a well equipped factory repairing workshop - you can very easily remove and replace the U joint. Changing the bearing would be a yawning job in there as its also pretty easy for the side of the house/shade tree/backyard DIYer.

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2012 BMW X5 (Beef + Granite suspension model)

1995 E300D - The original humming machine (consumed by Flood 2017)
2000 E320 - The evolution (consumed by flood 2017)