The truck is a 1993 F150 4x4 with manual warn hubs

I have removed the front left and right axels. Can someone clarify how this style u-joint comes out? I cant see any spring clips to remove, either inner or outer/

 

The clips are/ should be on the inside of the yokes on that type of U joint. Try using a small pin scribe, or a electrical bulb/fuse tester, to see if you can find/locate the ends of the C clips.