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Remove the rear drive and use a piece of PVC pipe just large enough to slide over the splined shaft, and tap the bearing out of the swingarm.
The ujoint is an interference press fit into the carrier bearing…machinist can remove and refit if your not comfortable hitting it with a 20 lb sledge… The uj needs to spin the bearing it’s pushed into and not be loose. If it’s easy to drop out, then likely your scoring and overheating both pieces. After many miles, it can be likely to just fall out. Not good..Shade tree mechanics devise a tube to hold the uj straight while pushing it in. My impression is you need a real press (machine shop) to get it home. Banging on it can ruin the tinny tiny bearings inside leading to an early demise..Hold the trans side of the uj while installed and push/pull in all three directions with your fingers..Fore/aft, up/down ,left right…should be zero play. Any hint of movement, replace it. No clicks, snicks, or gaps felt? Leave it alone. If it’s not broke don’t fix it. Replace the torn boot..