Doesn't sound fun. I just installed 5100s yesterday. I'm not trying to insult your intelligence, but I used a floor jack under the lower control arm to raise the whole thing up to meet the UCA ball joint. Mine went up smooth though. I haven't messed with the CV axles at all so I don't know any secrets if one came out.
'15 Express 4x4 (2.8" Bilsteins / 1" rear coil spacer + 1.5" Zone body) LT275/65R20 Pathfinder A/T