If you have a good size C-clamp you can use a sockets to put pressure on one side of the joint and a larger socket to "receive" the other end of the joint. Tighten it down as far as it will go and tap the ear with a hammer, tighten, hammer, tighten, etc, and it should work it's way out. Or you can get the correct tool at Harbor Freight, or maybe borrow one at a parts store. If you have a shop press that will work too.
Easiest option, if you have other transportation, would be drop the shaft off at a driveshaft place and have them do it, it's shouldn't be real spendy and you won't run the risk of ******** something up.
Probably a bunch of youtube videos.
Oh, don't forget to remove the C-clips.