You can tell a full-floating axle by the hub center protruding through the rim by several inches, with a cap being held on the end of the hub with several bolts.
Like Mike said, you can remove those bolts and take the axle right out of the truck. No jacking required.
The hub on a full-floating axle actually rides on two bearings on the axle tube. It's similar to a typical front wheel bearing setup on an older pickup truck or a trailer.
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Today's Featured Article - Show Coverage: Journey to Ankeny - by Cindy Ladage. We left Illinois on the first day of July and headed north and west for Ankeny, Iowa. Minus two kids, we traveled light with only the youngest in tow. As long as a pool was at the end of our destination she was easy to please unlike the other two who have a multitude of requirements to travel with mom and dad. Amana Colonies served as a respite where we ate a family style lunch that sustained us with more food than could reasonably fit into our ample physiques. The show at Ankeny
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