Så här byter du drivaxel på Volvo V70. Propshaft already removed during fault finding, vibration at speed, could also be felt around roundabouts or significant right turns at speeds of 30mph or more.
I didn't get the driveshaft out at all, I've removed many over the years, this one was particulary seized in, I had very little ground clearance, so decided to leave it there for now, plus the fault has been improved considerably since this re-grease. As a temporary repair, and proving the source of the problem - a success.