The fitting of drive shafts can be a game but not to bad once you think about things, take a D6R with Diff Steering it has 2 shafts to pull out of the left side and 1 shaft to be removed out of the right, a good tip to start with if you can is before you pull the shafts drive the Dozer and let it come to a stop on its own account without any brake being used, this does help a bit, I have found the best trick is to slacken off the grease valve/s on the track adjusters it can help with the stress levels, I near always fit the the right side shaft in first, then push in the mid shaft from the left then do a measuring tape dip to confirm it is fully located as this shaft pushes the drive coupling onto the transmission drive shaft, then I do what you all do fit the outer left shaft and keep pulling it out a bit and turning it to index another tooth and try to find the magic spot where it pops in, if no luck I have all this slack track to allow easy hub movement to let the shaft drop in, you don't want to run the engine with the shafts removed as oil will fly out at you, it's not the brake plates that are off line it's the outer hub gear teeth, so knock the grease out of the tension cylinders and give yourself some slack to ease things.
p.s. take no notice of that Video as he left out lots of important detail plus the fact he made an Ar$e of doing the repair, the final thing you see him doing is putting a bit of rope on the steering control, that's how things go wrong fast just never do it it's Madness best done by Idiots.