Swiffer1575

I took my Journey in for a transmission check. Ended up having a cracked transfer case. The driveshaft was checked and part had fallen off, probably from accident a while ago. I had the shop replace the driveshaft. What I wonder is, is it required to remove the calipers to replace the driveshaft? I ask because brand new calipers were just installed and yesterday my front driver side caliper fell off.