2001 Escape, 4 cyl. 2 wheel drive. Anybody replaced their own ball joints? How hard? Cost for dealer replacement? Thanks for any replies.

 

If you have the correct tools then replacement will be just as hard/easy as any other vehicle. Depends on your skill level. Wrenching to me comes easy (been wrenching for 40+ years) on almost everything till I start to improvise with the wrong tools.
To have some one do it will cost in the neighborhood of $100 or so, per ball joint. I would recommend that you replace upper and lower as a set. You will save on time as the one you leave behind has just as much wear and tear and is going bad.