You shouldn't have to remove anything from the axle. There are four "arms" that connect to the axle. Two upper control arms and two lower control arms.
I've taken my exhaust on and off so many times, I can do it in my sleep. This is how I do it, so hopefully it will give you an idea.
Raise the rear end of the car as high as you can get it. The higher the better. Support the rear chassis with jack stands. Drop the rear axle as far as it goes. It should drop about a foot or so. This will give you enough room to move the pipes around. This is were you'll quickly notice how important it is to get the rear end as high as possiable. you'll have to twist, turn and move the pipes around to get them over the axles. Be carefull of your brake lines! The mufflers and the tips should be in two pieces. Either the bend over the axle is connected to the muffler or to the tip. Hang that one first since it's the hardest and you need the most room. When you bolt/clamp down the pipes, make sure you get a good snug fit or you'll get an exhaust leak. You don't want your car to sound like a ricer
