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Buddies, beer, patience, pb blaster, hand, and power tools! In all reality you want a buddy there to help. I believe these ball joints are pressed in, so you'll need a ball joint press. A torch is the fastest and easiest way to remove old u joints IMO
For the u-joints... after the PB Blaster treatment, I use a C-lamp with two sockets, 1 big enough to press a cup into, and 1 just smaller than a cup for a press. Usually use one scocket to git-er started moving, then put the second one in.