First you will have to pound the broken lug studs out of the wheel hub, then you will need a lug nut and about a half an inch thick of flat washers.
1. Insert the new lug stud through the wheel hub from behind so that the threaded end is facing out towards you and then put some grease on the threads.
2. Then slip the flat washers onto the lug stud followed by the lug nut, and run the lug nut down to take up the slack.
3. Then using a breaker bar tighten the lug nut until it pulls the lug stud through the wheel hub and it is flush with the wheel hub.
Be sure that the amount of flat washers used will make up for any non-threaded part of the lug stud that might stick out past the wheel hub preventing the lug nut from pulling the lug stud all the way through the wheel hub, and basically you do not want the lug nut to run out of threads before it can pull the lug stud flush with the wheel hub.
If you use a good sized punch a little smaller in diameter than the lug studs are, then the broken lug stud will give you little trouble popping out and you do not pound on the wheel hub itself. I have replaced many broken lug studs studs this way and I have never had any kind of a problem, nor have I ever required any special tool to do so.
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They are pressed into the wheel hub flange. They need to be pressed out. You can get a tool for this at any auto parts store.
If you beat these out like it was an old rear wheel drive with the flange welded to the axle you are taking a chance of damaging the the wheel hub assembly. That's why there is a tool made just for this. The wheel hub only cost around $140 or more as compared to $13 for 5 studs and maybe $20 for the correct tool. You may even be able to rent the tool for free, but hey, whats money.
Not to mention the ABS(anti lock brakes) sensor is built into the hub.
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