Here are the instructions directly from GM...
There fairly simple to replace just remove the sway bar end link and pull through the opening..
I'm sorry, I though you were looking to remove the axle shaft..
The front driveshaft should slip out of the transfer case and be bolted to the yoke at the front differential. The rubber boot should have a clamp around it that will need to be removed to pull the driveshaft...
Please let me know that all the information sounds correct, there is another style that is used depending on GVW (see pic below) but it sounds like the style that you have is what I have described up top..