Have done it. There is a snapring(?) and after removing it, you can pull the joint out of the propshaft and the bearing after that. Be sure to mark the joints splines to the propshaft, so you won't have to balance the propshaft afterwards, when you re-fit it to the exactly same position.
Just wondering, is the bearing noisy or is the rubber carrier worn?
If only the rubber part is broken, you can fix it in a couple ways without removing the propshaft. In youtube "Cayenne driveshaft jimi fix" for easy and a budget solution or for example darksidedevelopments offers JXB Motorsport(?) carrier for the bearing.
Edit. I found pictures of the old T5.1 propshaft, which I did earlier.
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