The half/shafts are retained in the diff by cir-clips that simply apply slight pressure inside a groove in the side gears in the diff. The shafts simply pull out of the housing.
You need to disconnect the upper link to the knuckles on both sides. Then loosen the lower knuckle attachment points and pivot it downwards pressing out the axle shaft as you do so. You may need to remove the knuckle entirely.
Then you can pull the axle shaft out. When reinstalling you must use NEW axle nuts. They are a multi-piece design that deform under the 250 ft/lbs torque spec. Once torqued, if you loosen them they'll never stay tight again. The dealer has them for a reasonable cost (people have reported $6-$9 each USD)