You can certainly mark the relationships to make putting back together a definite match up but honestly, I've lost track of those things many times and it never seemed to matter on the driveshaft. THey are balanced as a part, not ON the car as far as I know. You can pull a driveshaft from a donor car and put it into your vehicle and never know the difference.

To get the joints out, find a socket just small enough outside diameter to fit on the joint cap and press into the yoke hole by squeezing it in a large vise. At the same time find large socket with inside diameter big enough to accept the other end of the joint that will be sliding out of the yoke. Squeeze whole assembly in the vise and the joint should slide out and into the large socket. Once it slides out the endcap with the needle bearings will be exposed enough to fall off. Then the joint will be wobbly enough to get it out of the yoke easily. There's gotta be lots of videos on youtube by now showing this. It is very easy to do IF you can find a vise with large enough opening to grab the yoke and sockets. Install reverse process, just be very careful the needle bearings are lined up like soldiers nice and straight as you squeeze it back together. Use a little grease on them to hold them in place during that time.

Put the grease fitting in before you reinstall the joints into the yokes. Shoot em full of grease on the workbench! Not under the car laying on your back! Make it easy on yourseff! There is NO difference installed in vehicle or lying on workbench, no pressures or torques amount to hill of beans. So, grease em first.

Good luck, it is an easy job but takes time.
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Genesis 7:11