I haven't yet, but I will need to next week or so because the shaft oil seal is MIA judging by the amount of oil that has made a bid for freedom
I believe the shaft is an articulated type with a bearing bolted to the engine.
There are several ways of removing the shaft from the hub, but I usually try to undo the track rod end and strut bolts, leaving the bottom ball joint in place as I find there is enough room to get the end of the shaft out of the hub.
It saves undoing the ABS wiring and so on.
Drain the oil using the drain plug on the box. A large hex (allen) key or (as I use) a sump plug drain key set.
Then, underneath to undo the bearing from the engine and use a rubber/plastic mallet to persuade the circlip to release the shaft from the box.
The old oil seal is a proper A - hole to come out, so prepare to "argue" with it if you need to replace it.....
I may take pictures if I get the chance