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I ended up giving up on removing the prop shaft cv and just put a big oil change pan under the nose of the diff and unbolted the whole haldex assembly under the car. I spent way too much time wrestling with the prop shaft and this seemed like the easiest solution and it worked.
With the subframe out I easily removed the diff and got it on the work bench. Disassembly was easy and I got the main pinion seal out too by screwing a screw in it and then some multi-grips and a vice plus mallet, see photo.
The pinion removal tool I imported from the UK fits perfect too, just need to grab a 3/4" to 1/2" adapter socket when the shops open again and I can remove the pinion and take a look at the failed bearing.