I've done this on a front wheel. I suspect the rears will have the same design.
1. Break the rest of the lugs free on the wheel with the broken stud. Jack up the car and place on jack stands as required. Observe all safety precautions.
2. Remove the wheel (5 x 21 mm lug nuts).
3. Use a C-clamp to gently push the brake pads back off the rotor.
4. Remove the bolts holding the brake line bracket on the wheel hub assembly (2 x 12 mm). Remove the caliper from the hub assembly (2 x 19 mm bolts). Remove the rotor (on the rear, make sure the parking brake is *not* on, and the other wheel is chalked if it's on the ground still for some reason). Bolt the caliper back on the hub assembly with the top bolt only, going the opposite direction so the bolt is going through the wheel hub hole & into the caliper towards the inside of the car. This is to hold the caliper in place while removing the stud.
5. Turn the broken stud towards the front of the hub assembly, there's a set of grooves in the metal & shielding to allow removal/replacement of the studs. Use a heavy hammer to drive out the old stud through the back of the hub. I bought an air impact hammer to do this because I'd seen someone else have to do it the 'hard' way. Unfortunately I never got to play with my new toy because a swift shot with a ball peen did the trick & stud dropped out. This pic shows the new stud already in place.
6. Take the replacement stud (pn 43222-70T00 qty 5) and find several washers/spacers and a regular nut that will fit it. I don't recommend using the lug nuts for this. Run the stud through the hub, stack the washers on the stud and then start the nut onto it. Once it get's a little tight, twist it a bit to get the grooves 'lined up'. An air impact wrench will make this next part simple. Just tighten the nut until the stud is pulled all the way in place. If doing it by hand, find something to jam between two of the other studs to hold the hub still while tightening the nut and pulling the stud in place.
7. Once the head of the stud is all the way up to the hub, it's done. Remove the nut & washers.
8. Reassemble in reverse order. Caliper 19 mm bolts are torqued to 72-87 ft-lbs, the smaller bracket bolts are torqued to 8-12 ft-lbs. Lug nuts are torqued in a skip 2 pattern to 80 ft-lbs.
Dallas DamonZ