I have, but it was a few years ago and can't remember exactly how. The bolts were tricky to get to, but do-able. The main issue was making sure the pin marked in the link below with the yellow paint was all intact. Also replacing it with as decent a quality coupling as you can find. I managed to get a spare mercedes one that's an exact match, but infinitely better quality than some of the fibre ones off ebay. Good luck
https://lancia1965.wordpress.com/tech-info/https://lancia1965.wordpress.com/general-maintenance/