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The lower control arms or what is commonly referred to as the coffin arms connect to the lower wheel carrier via a ball joint and the sub-frame via a nut and bolt.
The camber of the wheel carrier is set by the eccentric nut, bolt and washers on the sub-frame side. If you are replacing the arms, it is a simple procedure that does not need the removal of the axle. If you are going to reinstall the original arms for whatever reason you will need to remove the axle so you can get a ball joint separator in there. Otherwise, a simple pickle fork and be used to separate the wheel carrier from the arm.
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