I sit corrected regarding the "dust cap". Mine was firmly attached to the shaft.
It did take some effort to separate the two shafts.
Tried with my son, no luck. Few taps with a rubber mallet, then plastic dead-blow. Nothing.
Since I was going to replace the u-joints anyway (about $15 each and they were really worn out), I put one end of the (removed) shafts in a bench vise, spaced so I could put the end of a small crowbar into one end leveraged against the end of the bench and I whacked the top of the lever with a 2" dead blow hammer and the shafts separated a few mm at a time until they were loose enough I could just pull 'em apart.
looked kind of like this:
|<-hammer
|------------------------shaft--------------[]
| <- edge <- bench top -> ^ VISE
In case this needs to be done in future I slathered assembly lube on the components liberally then hit the zerk fitting with a few shots of lube after assembly.
I heartily recommend pulling the entire set, cleaning things up, checking the FRONT u-joint, then putting everything back together. It may be possible to remove JUST the rear shaft, I didn't do it.
Did you read the manual?
NB