the shaft can be removed without removing that member. I've done it.
Need a slim wrench that gets in there, on the front. Watch the knuckles!
Come to think of the front shaft does have a little piston in it, that allows a small contraction. But how to remove the joint with the shaft attached at the other end is a head scratcher. Also have to be careful not to scratch or dent the shaft while doing this.
Once you have it removed, just take care of both? Would be a pain that the front one goes in 5 months time. They cost like ~20 buckaroos.
FYI - Stanley makes a set of slim (thin) black wrenches. There are probably others, and if you can get a long reach one, then even better.