How to replace CV axle?

So I have a 2012 Rav 4 base.

I have been having a problem with the CV axle where making turns causes a pop there are no guides anywhere that i know of with an explanation on how to remove one.

(I do know how to get the wheel completely off i just need to remove it every where else it may be connected (by brace or connection point))

Answer this question I have this problem too

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This is on the passenger side by the way.

Although it would be nice to replace both just in case.

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