You're going to have to remove the whole hub assembly, it's only three bolts. If I remember correctly, it's a 13mm. Just make sure to use the right socket. It's one of those multi-point ones, not a standard socket. Removing the hub can be tricky without a puller. Once I get all three bolts loose (almost out but not completely) I put a slightly larger socket on the bolt with an extension. Then I find a place on the axle and turn the wheel, using the power of the power steering to do the work. Just be careful not to turn to much. All you want is enough to get something in-between the hub and steering knuckle, so you can work the hub off. And yes, assuming you have ABS, you'll need to remove the hub from the axle. It may seem like allot, but it's actually quite easy, if you take your time. At this point I can replace the axle in about 20 minutes.
Now for the U joint itself. I tried the C clamp route, and it can be a pain, especially if you don't have large enough sockets to allow the U joint to move into. Places like Advance Auto have a "free" rental program. Albeit, you have to actually pay for the tool. They Just have special ones in the back that are for rental. And you get your money back when you return it. Or, if you want to keep it, you just call them up and tell them you're keeping it. I found it allot easier to go this route, as the kit has all the right adapters. Also, don't forget to remove all the clips from around the U-joint. The only tricky part is actually putting the new one in. If you've never worked with a U-joint, the caps of the U-joint have to be removed. They have little needle bearings inside. Just make sure they don't fall out.
Good luck. It's actually really easy once you've done it. The first time I had to do a U-Joint, it took me several hours, including going back to the parts store for the right tool. The second time took less than an hour for the how job.