I don't think you can assess the condition of the transaxle by spinning the wheels. The differential in the transaxle converts power from the transmission to the wheels by a set of gears. It would almost impossible for one side to turn at a different speed than the other. You may have more drag on the brakes on one wheel, or the fluid in the transaxle could cause one side to go slower with the van off the ground.
no you don't need to remove the tranny to remove the drive axle. All you need to do is first remove the wheel, then remove the brake assembly, then remove the rotor , then remove the axle nut, then remove the lower ball joint then remove the drive axle. do the steps in reverse to assemble.
Easiest approach is to change entire axle. Depends on car, but generally remove wheel, remove axle nut, loosen lower ball joint and separate wheel assy from a-frame. In some cases, tie rod end must be taken loose. Wheel bearing assembly must now be pulled out swinging about the strut to allow axel spindle to come out of the bearing. Once axle is out of the bearing, place a drip pan under the trans and pull the axle out of the trans. Reverse procedure to reinstall.
Put it on a lift,support the engine from up top or under it, if you don't plan on using the lift for another job. Pull the axles. Then drop one side of the engine/suspension cradle,then the trans.
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