IRS? Remove wheel, brakes, provide support for the CV joint, remove upper and lower arm mounting bolts, knuckle case, then remove CV joint. Don't over-bend the CV joint during disassembly or reassembly. Similar to a car FWD CV joint procedure.
I have the wheel and hub assy off of the machine, now I need to get the axle assy from the transmission without damaging anything and need to know the proper procedures to disconnect from transmission
A CV joint will just slide out, usually when you remove the knuckle case. The knuckle case is the retainer. Try Youtub for car CV replacement it will be similar.