How do I remove yoke from driveshaft to replace support bearing?

Replacing the pinion bearing in a 2004 BA Falcon Ute can be a complex and challenging task. Here are the general steps to follow:

1. First, raise the rear of the vehicle securely on jack stands and remove the driveshaft from the rear differential.
2. Drain the gear oil from the differential and remove the rear cover.
3. Remove the retaining bolt from the pinion yoke, and use a puller to remove the yoke from the pinion shaft.
4. Use a suitable tool to remove the pinion nut and washer.
5. Mark the location of the pinion flange relative to the pinion shaft to maintain proper gear mesh alignment when reassembling.
6. Carefully remove the pinion flange from the pinion shaft.
7. Use a bearing puller tool to remove the old pinion bearing from the pinion housing.
8. Install a new pinion bearing onto the pinion shaft using a bearing installation tool.
9. Reassemble the pinion flange, washer, and nut onto the pinion shaft.
10. Use a torque wrench to tighten the pinion nut to the proper torque specification.
11. Reinstall the rear cover and refill the differential with the recommended gear oil.
12. Reinstall the driveshaft, making sure to properly align the yoke to the pinion flange.
13. Lower the vehicle off the jack stands and test drive to ensure proper operation.

If you mean the carrier bearing on the driveshaft - then you must have a v6 model. I would advise to skip replacing it and instead purchase a 1pc shaft (no carrier bearing). The cb is located near a Hi-Speed CV Joint which make changing the carrier a little difficult.
A new replacement 1pc driveshaft costs about $225.00
The carrier bearing itself may run $40-$140. ( http://www.fortwayneclutch.com/index.php/driveshaft-parts/carrier-support-bearings/gm/1993-2002-chevy-camaro-v6-pontiac-firebird-v6-carrier-bearing-new-f-body-carrier-bearing-for-v6-models-pn-s-3r80-40.html ) - for reference...
You could also check a junk yard for a 1pc oem shaft (most shafts there are bent or have bad uj's and will cost $$ to have fixed )
>1994-2002 f-body models all have the same length from the seal of the transmission to the center of the uj @ the diff.
>when looking for an oem 1pc shaft you will find them in Steel and Aluminum. Slight differences in length when measuring center to center of the universal joints ( 40 7/8" - 40 1/2" ) - but the slip yokes vary in length, weighted / non-weighted..etc = this will make it appear the the shafts are different.
>>watch out for oem shafts with the weighted slip yoke from manual 6spd v8 models. This slip yoke may hit the trans/exhaust mount that is used on v6 models.!!

Which bearing? The hub bearing? I can send it. I have your Ford shop manual & wiring books for $25, plus $4 shipping. Let me know.

SECTION 205-01: Driveshaft 2002 Lincoln LS Workshop Manual
DISASSEMBLY AND ASSEMBLY Driveshaft Center Bearing
Special Tool(s) 2-Jaw Puller
205-D026 (D80L-1002-L) or Equivalent Puller, Bearing
205-D064 (D84L-1123-A) or Equivalent Driveshaft Alignment Bushing Remover Tube
205-D073 or Equivalent
Disassembly

1. Remove the driveshaft (4602). For additional information, refer to Driveshaft in this section.

1. Separate the front and rear shaft assemblies.

1. CAUTION: Do not clamp on the driveshaft tube as a fracture can result.
   Position and clamp the driveshaft at the weld yoke.

1. Using the special tools, remove the retaining ring and the center bearing and bracket assembly (4A499).

Assembly

1. Position the center bearing and bracket assembly and the retaining ring on the yoke.

1. Using the special tool, drive the retaining ring and bearing assembly until fully seated on the yoke.

1. CAUTION: Align the index marks or driveshaft imbalance can occur.
   Assemble the front and rear shaft assemblies.

1. Install the driveshaft. For additional information, refer to Driveshaft in this section.

I searched under 1997 lincoln continental and found this: Driveshaft and U-Joints
REMOVAL & INSTALLATION Town Car and Mark VII-VIII Fig. 1: The bolts retaining the rear driveshaft yoke-to-differential flange require a 12mm, 12 point wrench or socket to loosen them
Fig. 2: Remove the bolts retaining the rear driveshaft yoke-to-differential flange
Fig. 3: Separate the driveshaft from the axle flange and . . .
Fig. 4: . . . disengage the driveshaft from the transmission output shaft
Fig. 5: Insert a plug onto the splines of the transmission output shaft to prevent fluid from leaking out

1. Raise and safely support the vehicle.
2. Mark the position of the driveshaft yoke on the axle companion flange so they can be reassembled in the same way to maintain balance.
3. Remove the flange bolts and disconnect the driveshaft from the axle companion flange.
4. Allow the rear of the driveshaft to drop down slightly.
5. Pull the driveshaft and slip yoke rearward until the yoke just clears the transmission extension housing seal. Mark the position of the slip yoke in relation to the transmission output shaft, then remove the driveshaft.
6. Plug the transmission to prevent fluid leakage. To install:
   
7. Lubricate the yoke splines with suitable grease.
8. Remove the plug from the transmission and inspect the extension housing seal; replace if necessary.
9. Align the slip yoke and output shaft with the marks made at removal and install the yoke into the transmission extension housing. Be careful not to bottom the slip yoke hard against the transmission seal.
10. Rotate the axle flange, as necessary, to align the marks made during removal.
11. Install the driveshaft yoke to the axle flange. Install the bolts and tighten to 71–95 ft. lbs. (95–130 Nm).
12. Lower the vehicle.

about $200 in parts,,,you can not do this at home,,,,,you need special tools to press yoke on and off and even then sometimes they bend,,,not a easy job,,,,,,i am a master tech and worked at saturn for 8 years and i hated doing these

First mark the relationship of the two yokes and then remove the universal joint. Now that's done remove the retainer clip from the top of the slip yoke and gently tap the slip yoke out being careful not to damage the splines on the shaft. the bearing that ins on there is pressed in so (A) you can bring it to someone with a press or (B) use a gear/ pulley puller. If you attempt this take your time and have patience don't break anything and think safety first.

cardan centering bearing
point bolts needed to be removed that connects D.S.to transfercase

you have to pull off the driveshaft and take it apart then press off the carrier bearing

I had the same problem and removed the balancer from the drive shaft this morning. I put the drive shaft back on, and drove the truck around all day, highway, city, stop and go, there were no problems, and the noise was gone, and I had no vibrations at all. So you should be fine if you remove the balancer.