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Easy with even just a metric enabled ruler.
Not so easy even with a regular caliper, at least not while it's installed.
The best way to get sub-mm accuracy is to use a clamp to touch both sides of the axle, then remove the clamp and measure the distance with a ruler. If you don't have one, find a way to tape, tie, or glue two sticks together in a shallow V, touch it to both sides of the axle, and mark with a pen. Then measure that.
You can eybeall with a ruler, too, but then parallax will make it a ~2mm measurement, which isn't really helpful.