Cant help you there,dropping driveshaft and slipping the ball and trunnion apart cant be that complicated. Cv axles are a similar setup,this is way easier.
That's the ball and trunnion U-joint. Yes, there is a how-to, in the factory service manual (which you do have, right?). Rebuild parts can be bought with some difficulty, and not locally—the one you need is № Q-122 on this page. Disassembly and reassembly requiress a hydraulic press. It is not worth the expense and trouble of buying the expensive parts and paying to have them put together; just do as suggested and linked in post № 28 of this thread.