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I used a brass hammer to knock them out. You can also just lightly thread the lug nut back on and hammer it out that way. To re-install the new stud I used an air impact. I put the stud in place, placed a socket over the stud (allowing the stud to protrude through the end of the socket) I then put the lug nut on so that it seated against the socket and hit it with the impact. This took all of 1 minute and worked great!
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