You have many options with today's internet so Thank you for choosing JustAnswer.com.
What year is the lx470?
P.S. I take great pride in providing quality responses for the people I assist. If you believe that I have been professional and helpful in my assistance please don't forget to give a positive rating for this exchange and click the accept button. If you feel my answer does not address your issues, please just tell me and I will opt out, allowing another technician to address your situation. My Goal is to make this experience one you appreciate.
Click the link below and save the info. Some times you can disconnect the ball joint and swing the whole assemble out far enough to get the axle out of the hub it is a matter of personal preference.
The abs sensor does not need to come out. They are normally frozen in any way. The detection ring on the axle will clear the sensor tip. Just be careful on the wire if you start to maneuver the hub assembly around so you do not stretch and break the wire.
If the boots are broken open the joint needs washed out with parts solvent or gasoline just use caution. Blow the joint dry. If the boot is not broken open you can just wipe the old grease out with a clean rag and use the new grease in the boot kit. Any way you do it this is a messy job.