No experience with a BMWer,but with most cars you just unbolt the rear U joint,drop it from the rear end, and pull the driveshaft from the trnasmission.The rear end shouldn't be involved.
There is a company that independent auto repair shops get their information from, this same information is available inexpensively for people that work on their own cars.. The information is year make and model specific, covering repair procedures, torque specifications, fluid capacities and specifications, service bulletins, component locations, wiring diagrams ect.... Alldata is very easy to navigate http://bit.ly/AllData_Repair_Manuals_Online
RepairPal Certified shops can diagnose and repair your 2002 BMW 525i. They provide transparent pricing with a minimum 12-month or 12,000-mile warranty on repairs and services.
