How do you replace a 2004 Honda CR-V rear universal joint?

To replace the rear universal joint on a 2004 Honda CR-V, first, safely lift and support the vehicle, then remove the rear driveshaft by unbolting it from the differential and the transfer case. Next, mark the position of the driveshaft for reassembly, and use a press or a hammer to remove the old universal joint from the driveshaft. Install the new universal joint by ensuring it is properly seated, then reassemble the driveshaft, aligning it with your previous marks, and securely bolt it back in place. Finally, lower the vehicle and check for any unusual noises during a test drive.