Just wanted to update the thread as I replaced both CV axles and the vehicle rides much smoother, very little shake remains. Really only get a small steering wheel shake at high speeds, but I have all terrain tires so I guess that is expected.

Thank you everyone who provided advice as it was a much easier job going into being prepared.

 

It may be worth having your tires balanced again - you should have no steering wheel shake at all.

 

Hey gang just recently picked up a 2006 GX470 with 117k miles on it. I just got done replacing the driver's side CV Axle because the outer boot had a tear and it was leaking. I purchased a used OEM axle from a wrecked 4 Runner on ebay. The hardest part of this project was removing the axle from the transmission. It was stuck in there and would not come out no matter how much I pryed or pulled. Eventually I got it out by using a chain and a sledge hammer. I tied the chain around the axle and around the hammer head. After a few swings the axle finally came out. It took me a while and a couple of youtube searches to figure this out.