That article is accurate and well done with good pictures, but it make is MUCH more difficult than it needs to be. You dont need to remove the rear wheels, or even jack the car up. Just take the bolts off a put new dogbone in and put the bolts back on and torque them. Its as simple as that. The toughest part will be getting a wrench to thtop of the bolt, but even that shouldnt pose too much difficulty.