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I am sure to remove the wheel bearing would first need to remove the half shaft.

Remove the brakes, the brake line & emergency brake cable. Remove the 4 retaining nuts on brake backing plate. Remove rear axle half. Will lose a little oil. Probably need to drain differential oil and refill with new oil when job is completed.

Will need a hydraulic press to remove and replace the bearing (machine shop).

Reinstall half shaft with new bearing on it.

Better think about replacing both rear bearings especially if you have high mileage.

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Q: How do you remove a rear wheel bearing from a Toyota Previa?
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