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Posting an update. I was successfully able to replace the passenger side strut. The axle stayed in place. I now don't think the driver side fell out, rather it was in an odd position that made it difficult to move at first, until I jacked the knuckle up to relieve the pressure.
Took the car for a ride and got it up to 85mph and no shaking, rattling, or anything unusual. The clicking I heard sounded like the normal sound when manually reversing the direction of the axle while spinning the free rolling wheels (since they were off the ground), so I think I'm good. This can all go down as an unfounded panic.
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