Yes. There are not special tools but most mechanics use long extensions and can get to it from further back in the vehicle. Keep in mind, all these procedures were written for a mechanic in a shop working on a lift. If you are in your driveway then you will probably need to remove the drive shaft just as you are doing. I have watch a few videos and they all do the same thing you are doing.
As for getting the driveshaft out, if you have all the bolts out I would suggest putting one of them back in only a quarter of the way and then smacking the flange with a hammer where I circled in the first screen shot below. Try not to smack at an angle because this can distort the flange.
Next screen shot you can put a pry bar in this slot and pry it back away from the flange.
Basically this is seized due to rust. Keep in mind this is metal so you can be rough with it, just don't go crazy on it.
When you get the CV side loose you can push the end towards the CV joint and that should collapse just enough to get it down.
Images (Click to enlarge)
Monday, January 13th, 2020 AT 7:17 AM