Raise the vehicle and remove the rear wheel, then use a suitable drift to release the staked side of the axle nut. Remove the center cap and reinstall the wheel before lowering the vehicle to the ground. With an assistant holding down the brake, remove the collar axle nut, ensuring not to reuse it. Raise the vehicle again and remove the rear wheel, followed by the rear brake line bracket mounting bolt to detach the bracket from the trailing arm. Remove the brake calipers and brake discs, hanging the calipers aside with stiff wire without disconnecting the brake fluid hoses. Unclip the brake pad sensor harnesses from the control arm and lay them aside, then remove the wheel speed sensor from the trailing arm. Next, remove the rear drive axle and the wheel hub using special tools and five wheel bolts, ensuring the rounded inside edge of the special tool is positioned towards the wheel hub. Use snap ring pliers to remove the wheel bearing circlip, then utilize BMW bearing extraction tools to pull the bearing assembly out of the trailing arm bearing housing. Inspect the bearing housing for damage or contamination, cleaning the housing bore thoroughly before installing the new bearing. Ensure mating surfaces are clean and install the new bearing assembly using press tools, followed by the new circlip. Apply force only to the outer race during installation, ensuring the bearing is pressed in sufficiently to contact the shoulder at the back of the housing and that the circlip is fully seated in its groove. Press the wheel hub into the bearing using press tools, taking care to support the bearing inner race if using alternative tools. The installation process is the reverse of removal, remembering to adjust the parking brake and tighten the drive axle collar nut to the final torque with the road wheel installed and the vehicle lowered.