How to re-install new rear sway bar

Annoying squeak turned out to be a snapped rear sway bar. Vehicle is newish to me and I have no idea how it happened.

Regardless, I removed the old bar, easy cause it was in two pieces and then went to a local Pick n Pull and pulled one off of another 4th gen. Getting that one out was easy because the car had been pretty well picked apart at that point and there wasn't much suspension left back there.

Now, I'm not sure how to get the new one back in. I don't have a lift and I can't seem to angle it properly to fit up and around the axle without having the clearance of the truck in the air.

Is there a trick? Am I just being naive and stupid and missing something obvious? (this is the answer I'm most expecting but am ok with)

Seems like If I pulled off the muffler from the passenger side I might have the angle to work it in and over.

I have a feeling it might be more than I realize because I've noticed there are 40 videos on how to replace the end links and 2 that show replacing the bushings but I haven't come across a single video showing the entire sway bar being removed and replaced. It might also be because they don't normally get snapped in half. Still wondering btw how they did that?

Anyway, TIA for any suggestions.

 

4th gen 4Runner Rear Stabilizer Bar Components (Suspension) Removal and Installation

Suspension control service data including torque specifications

From Toyota Repair Manual

 

4th gen 4Runner Rear Lateral Control Rod (Suspension)

From Toyota Repair Manual

 

Have one showing how to reinstall the sway bar? Mentions removal but doesn't say anything about installation.

If I'm to infer from the drawing I'd guess the trick is to drop the drive shaft and slip the top of the bar over the yoke.

 

Most of the time it's in reverse of removal.

Be a lot easier if I could just upload entire PDF, but not sure what site to use as none seem to be free.

 

I had a hell of a time removing/reinstalling my rear sway bar, too. This video helped me a lot (it's on a 5th gen but the process is the same) https://youtu.be/YACS1SmTdz8?si=kAnUJdiaeoX27bBo
While you're down there, why don't you upgrade the rear sway bar to this stiffer one? https://www.summitracing.com/parts/ACO-K2-301-0U
A stiffer rear sway bar will increase oversteer and thus rollover risk, so keep that in mind. But it also helps the front end articulate offroad. It's an IFS thing. If you're curious: https://youtu.be/gcgKbUTQJy8?si=XuH2ZHWtH93iCdk0

 

This is great, thanks!

I've already pulled another sway bar off of another truck and cleaned it up, plus I drove this for about 5 months without even knowing it was broken.

 

I'll try again with jack stands but with car ramps I still couldn't get the bar to slide past the muffler. It's clearly the way to do it as it was almost there but the tip of the bar was hitting the ground and the muffler was preventing it from sliding how it needed to. The muffler on my vehicle is also quite a bit wider than the one in the video not sure if that matters or not.

 

If it were me, after all that much trouble, I would drop the D/S. Clean up & grease the slip joint while I had it off.