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Later drive shafts including the 560SL have alignment marks from the factory see picture. The drive shaft "U" joint is very difficult because its staked in see photo. I have found the "U" joint online from only one place Parts America and have had good luck re staking it in. The big nut is usually not as tight as it is supposed to be and can generally be removed with a large channel lock.
If you are going down this far you will have no choice but to remove the exhaust and exhaust shields. It's not to difficult. when you service the center bearing you should replace the center bearing and rubber support as well as the spline boot as a minimum. Only replace the U joint if needed.
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