towin

I had a Datsun pickup many years ago that I had to do that with. It only took a couple minutes to slide under there, take the four bolts out of the rear driveshaft yoke, wrap the u-joint with black electrical tape to keep the bearing caps in place, tie the shaft to a cross brace on the bottom of the bed with a piece of wire, and bag the bolts and clamps in a zip-lock bag. The bag went in the glove compartment.
It didn't take long to put it back, either.
Yes, it CAN be done, IF you are willing to do it.