If you can lift the vehicle to a comfortable working height or you don't mind working on your knees and providing the finish on the chrome/teflon housing is good and the oil seal is in usable condition it's usually preferable to leave the housing attached to the axle. AFAIR the ABS fitted swivels have a bushed hollow pin at the top with needle roller thrusts which can wear quite rapidly if starved of oil, and all the parts will need replacing including the bottom bearing which takes all the weight. If you remove the full axle end you can work on the bench in better conditions but with more work to do.
Martin