What, exactly, are you replacing?
I thought there was a thread on here describing how to get at the u-joints. If not, It seems that Haynes/Chiltons are adequate for most of this operation.
For changing the drivers side axelshaft, and the outer half of the passenger axleshaft, basically you need to remove the rotor and the spindle, and the axleshaft will slide out through the steering knuckle. If you need to replace the inner "stub shaft" on the passenger side, then you need to get inside the diff to remove the C-clip that holds the stub shaft in place.
If I may ask, why are you replacing the axleshafts? Usually they don't need replaced unless broken?