The drive shafts remove in exactly the same way as the 2wd ones, you will need a multipoint head tool(like a Torx)for the inner bolts, a good accessory shop will know exactly what you want if you tell them it is for the inner joints on VW driveshafts.
It also helps to clean out the head of the bolt with a small pick before trying to loosen them. Stripped CV bolts are mostly caused by a bit that does not engage the bolt completely due to dirt in the bottom of the hole. You might also try using a hammer and punch on the bolt before trying to loosen them. This helps with stubborn bolts.
As Chris said, locking pliers are the only method for removal of stripped bolts other than cutting the head off with a grinder.