There are two methods to get the bearings out.
One is to tap the bearing out using a bar though you see people using a screw driver. This damages the bearing and the rim and you should only re-use that bearing if you are in an emergency.
The other method is to remove the tyre and heat the rim with a heat gun, then the bearing will just fall out. This has the advantage that the rim is not damaged.
Replacing the bearing is best done by heating the rim and slipping the bearing in. As the rim cools it shrinks and grips the bearing.
Tapping the bearing in, particularly on a cold day is likely to damage the bearing seat, because it is bound to tilt, wobbling into the hole with each hammer blow and expanding it.
It you have to replace the bearing cold, then get a 200mm length of threaded bar and washers just narrower than the bearing and pull the bearing by turning up on nut.
There's a good reason to have the inner sleeve in place too, it fits between the two inner rings. When properly sized you can tighten up on the bearing and stop the inner rings turning (if your stub axle has polish marks on it where the bearings have rubbed, then the bearings have stopped working and may overheat).
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