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CV joints
This is the picture of CV (=Constant Velocity) joint.
I posted inside componebts of joint, so you can see them. It is a simple structure protected by flexible boot. They are used in front and rear axles. We used to replace the boot only and took apart the CV joint as the picture and cleaned, regreased and reassempled. But in these day, the replacement axles are easily available and relatively inexpensive, so we rarely overhaul them in these days.