Here's a picture I found on Google that shows Adrian's AW11. Different to the SW20 but good enough to get my point across.
Undoing the nut near the square bushing brackets does not cause the bolt to slide out. That bolt does not have a head so no way to get it out - tried softly tapping the thread end with a hammer but stopped due to fear of breaking it.
Notice how all the gear arms, square bushing bracket etc are removed leaving just the shaft so that the dust boot can be slid on? Anyone knows how to do this? Suggestions on how to do this without taking the gearbox out of the car?