Re-reading your post, I see that I answered a question not asked.
You do have to remove the Tension Pin, but this is best done with the
Shaft off the vehicle. I'm sure that it could be removed while still
installed, but I wouldn't want to be banging around on all these sensitive
parts. There also exist some plastic parts forward (plastic U-Joint, I
think, no Bentley with me)that you would likely break. So go forward and
carefully disconnect that section of the Shaft from the vehicle so you can
tap out that pin without damaging other parts.
Once again, good luck
Miguel