I have 1999 ES-300 and my mechanic could not replace the boot. He said he couldn't seperate the driveshaft from bearing nor remove the intermediate shaft from the transmission.

 

which side. i think its youre referring to the passenger side. if so
on the driveshaft mount , there is a lock nut that must be loosened from the bottom, and a c-clip holding it in. once those are out, you should be able to yank on it and have it removed,
if its the drivers side, this one is a bit trickier, as there is a c-clip insidethe transmission, and you must yank on it so that it kind of pops out.

Charley

 

Tnanks for answering, Charley. Yes, it's a passanger side and I hope it will help with my problem

 

yeah, also, it rides on a center bearing/engine mount, that usually gets seized up, you may have to end up connnecting a slide hammer to your axle and pull it out, but yeah, that center bearing contains a lock screw on the bottom and a c-clip, other than that, nothing else to it
Charley