It started with the occasional "thunk" when backing out of the driveway and then it proceeded to get worse whenever turning. I decided to replace both joints since I was going to have my truck tore down this far anyways. Moog balljoints with lifetime warranty were $150. I used the tool loaner program at O'Reily's and got the ball joint press and pickle fork from them. The other special tool I had to use was a large axle nut socket that I got a while back to change the hub bearing. According to the manual, you are supposed to take off the control arms and take them to a shop to have them pressed out and new ones pressed in. With a ball joint press, you can do it yourself and save a bunch of money. Leaving the shock connected allowed me to not have to unload the torsion bar. I did keep the jack underneath the lower control arm just in case. I am going to get new tires soon so it will be getting an alignment then. If I already had good tires on it, the first stop would be for an alignment. I searched everywhere for guidance on how to do this. Hopefully this will help anyone else interested in doing this.

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Start with getting the truck jacked up, supported, and tire off.

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Remove the brake caliper mount and tie the caliper out of the way.

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Remove the anti-sway bar.

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Remove the dust cap and axle nut.

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Now you can remove the halfshaft after unbolting it from the differential flange. Then it can be removed through the low control arm. I choose to index the halfshaft. Probably wasn't necessary but it can't hurt.

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Halfshaft out of the way.

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Using pickle fork to separate the balljoint from the steering knuckle.

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Now for the bottom. I had to beat this one like it owed me money. You can also see I disconnected the tie rod.

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Once I got the bottom joint separated. I removed the steering knuckle. I ended up having to loosen the bearing to get the ABS sensor out. So I just completely dissembled it which wasn't necessary. I carried away with the impact wrench I guess.

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Top joint came out with no problem.

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With the bottom joint, I had to knock 4 crimps back in. Here I have it half way out.

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Pressing the new one in.

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Got both joints back in and ready to start reassembling everything.
If anyone has any questions, feel free to ask.