Dust cover is loose - what would cause that to happen?
SOURCE: 2005 ford escape assembly diagram for the front axle
If they are sealed bearings, you will need a press to get them out. If they are bolt in, just remove the brake pads/rotors, then the axle nut, then the bolts holding the wheel bearing in. Install in reverse order.
SOURCE: broken 4x4
once you have the passenger side/nearside drive shaft out use some thing long to slide in onto the head of the stuck drive shaft. use something soft like a old wooden broom handle then knock out using hammer. ford have used simple spring clips to keep there drive shafts in and thes are easily come by if deformed or squashed
SOURCE: grinding sound from the front axles stops when brakes applied
sounds like you have a brake or wheel bearing bad
SOURCE: tips getting new axle in 2003 ford explorer 4x4
if anything is in the way remove it and dont be so lazy
SOURCE: front hub assemble on drivers
Tighten the bolt and put a cotter pin in after the nut is tightened
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