Haynes has the only method for someone without a press, which really is
not needed.

Just don't bung up the splines, use a large drift or 3/8" socket
extension and tap the shaft through.  Catch it (helper is handy) or use
a box full of rags below to cushion the drop.

Piece of cake, but probably the dirtiest job you will do on your van.

If you find any pitting or scoring on the joints or balls after cleaning
their life is limited, which is why I don't bother with routine
repacking anymore, there is always pitting and scoring.  Be sure to use
the proper grease (molybdenum Disulfide grease or Red Line Synthetic CV
lube) when repacking.

Have fun!

Stuart