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You don't have to remove the transmission but it would be a good idea to remove the four bolts that hold the engine stand to the frame and just pull the engine and frame out together. That would give you the room that you need to get in there and change the bearings. If you look in the how-to section of the site, there is a video of the process in a Max II but it is the same process for the Max IV. Good luck.
Mike is spot on. I am in the middle of it right now. Remove your throttle cable, choke cable, unclip the wiring harness, remove the battery cable and the winch wiring and gas line along with the four engine cradle bolts and remove the works and you can get right at everything for rear axle and bearing replacement.