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It's not hard and I still need to do it since getting new boots...
I spray off the flinged grease under there with spray can engine cleaner and a garden hose.
Get the back of car as high as you can on jackstands, lay on your back under there, use a long pry bar between two allen head bolt heads and the floor or bottom of the car to keep it from turning and remove the other allen head bolts with socket wrenches.
Or you could use the emergency brake.
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