If your truck have 4x4 I'll assume it does) then my best suggestion is to get a repair manual from your local parts store. they are usually under $20 and have a lot of useful info.
Buying a Manual is very useful for any repairs on any vehicles.
If you need something fast
I had to do this on my dads 2002 frontier Nissan truck.
4 cylinder- 2 wheel drive.
TO remove the rotors,( Front ), you will need to remove the axle nut.
There is no way you can remove the rotor without doing this.
The rotor has 6 bolts, bolted to the the other disk.
The (other disk) is the disk that has the bolts that hold the tire on.
You will need to remove the cap first then gently, using a small hammer tapping each side outwards.
Once cap is off, you may need to remove some grease to see what your doing.
You will see a pin, Its folded over, so you will need to straighten it out then pull the pin out with a pair of pliers .
Remove the nut cover and it should freely come out.
The nut should not be too tight. You should be able to use an adjustable wrench
Because of the grease the nut should really be easy to come off.
Once the nut is off, you may need to tap the rotor ( from the back side ) with a rubber or 3 pound hammer to break free from the rust.
You should then be able to see some wiggle in it.
Gentle ,but not too far, pull the rotor off the axle.
You will need to do this, just a little bit so you can get the bearing out from the inside
Once you remove the bearings, then you can pull off the disk and rotor.
Make sure you have a clean piece of cardboard to put the pin, nut and bearings on and move it away from where your working because you don't want dust/dirt on those.
You will see on the back of the rotor 6 bolts. You need to remove these in order to separate
Then once you got that done, repeat the steps backwards .
At the end part, when you are putting the nut back on, you may need to read the manual and see how much torq you need to tighten the nut back on. There is not allot of torq needed on this nut.
You will need to add more grease back into this beering axle area as well since you removed it.
Hope that helps and sorry, but there is no other way of getting that rotor off without doing these steps.
Most of the other cars you can just remove rotors without taking the axle nut off and such.
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