I recently had to replace the passenger side CV axle on my 2011 Rogue SL AWD and thought I'd share something I ran into in case it helps anyone else. Those who have had to change this before themselves can probably guess. There are great walkthroughs online, but anyone who lives in the Midwest with our winters will likely run into something that seized.
In my case, I had two things seize up. First was the bearing of the CV axle which was stuck in the bracket and wouldn't budge no matter how hard I beat on it or pried it. So, I attempted to remove the exhaust flex pipe to give me room to work and take out the entire bracket. But, the last nut I had to remove on the exhaust had seized so got stripped. (had heated it first but still wouldn't budge).
So I discovered that I could just barely reach all of the bolts for the bracket by pretzeling my arms underneath through the exhaust, and from the passenger wheel well, after removing the half shaft at the cup closest to the seized bearing. Once I got all the bolts off the bearing and axle were able to slip out of the wheel well pretty easily.
A few good whacks with a sledge and the axle popped out, had to sand down the corrosion in the bracket and sprayed a light layer of penetrating oil to hopefully keep it from seizing next time, and the axle slid right in once I re-mounted the bracket. Easy peasy after that.
So, if I had to do it over again, if you have higher mileage and really any corrosion and your bearing is seized, I'd skip removing the exhaust and just take out the bracket. Unless your arms won't fit. Then take your chances with the flex pipe.
