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bearing is a press fit ,you can do it in the car BUT far easier with bracket (3 bolts???) off ,bearing presses out towards back of car, you can use one of those tool rental bearing removal kits with a little finesse,shop with a press and competent mechanic might be easier, the KEY is when pressing new bearing in,is to push on the OUTER race (not the inner race) of bearing (and it is a tight press fit) otherwise you will ding inner race and have early failure.
 
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