I am replacing both rear inner axels or "driveshafts" and need directions

Here is a forum talking about r&r driveshaft.

https://www.polarisatvforums.com/forums/polaris-sportsman/14436-how-remove-front-driveshaft.html

Those are just pushed on . Use a thin screw driver and gently work it up from around the base.

if there is a sliding spline in the shaft that allows for variation in axle length over rough terrain, I would think that you pulled that slip jpint apart to fix the joint and just stuck it back together without checking the phasing of the two joints
when the cross of one joint is vertical /horizontal the the cross of the other joint has to be the same or a problem comes as each loint is fighting the other in the rotation through the 90 degrees of operation
that will create a wobble between the rear tires

Have you checked the splines on the wheel hub end of the cv joint? They're splined - and when the splines wear down - the cv joint will turn - but you're tire won't. If you shoot me your make and model and I have the manual - I'll shoot you the minimal clearance on those spines. If it's not the splines (male) on the cv joint - it's probably the female splines of the hub

There are two types of circlips, internal and external, The external are fitted to yoke, while the internal are fitted to ujoint cup. Both can be removed with circlip pliers .

Hey Troy,
Sorry to hear about your trouble. It sounds like you increased the angle at the CV joint on your shafts. A longer shaft may not alleviate the problem. The big thing with a lift kit on your ATV is making sure the design of the kit is sound. And that it was installed properly.
Now it's quite possible you simply had a manufacture defective boot. And a new one is all you need. And that should be under warranty. I would certainly go back to the installer and show them the trouble you are having. With the lift kit, I feel you should have new shafts to meet the design requirements. Or your stock shafts may need to be modified. I hope all you really need is a better boot. And I hope this info gets you back to riding soon.

Take care.

should not be a manifold line should be direct from resevoir to front ,off hand lever.hand lever controls front and rear,pedal controls rear

sounds like somethingin rear assbly wore letting axel angle a liile misaligning sprockets

You need a new snap ring on the end or your not getting it all the way snapped in.

might have a safety interlock, try the hand and foot brakes.
I did a quick google and saw this too https://www.youtube.com/watch?v=geapdqqLFLw