I have never replaced my half-shafts, but there is a tool out there you can buy. It is very difficult with needle nose pliers to get it in there. Go to the parts store and ask them for a tool to help you out. I did replace my rear bearings in the 140, but I don't remember there being c-clamps, but those might be specific to your car, or near the differential? Good luck!
Happy Benzing,
Brian