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I just did all 4 ball joints yesterday. My uppers were a lot worse than the lowers, but I only wanted to tear into it one time. Mine has 163K miles on it. I bought the OTC ball joint press. It made easy work out of replacing the joints.
As long as it's apart, I'm replacing the hubs also. One has a little leakage problem, and the other sounds a little rough.
Oh, and then new shocks. And new front rotors and pads. And then finally an alignment.
You don't really NEED to replace all the ball joints at once, just the bad ones.. BUT at 129K, especially if the uppers are original, you may consider otherwise.. if for no other reason that if they go bad later on you'll be stuck paying for another alignment.
Unless you have a firestone nearby that will sell you a lifetime alignment package.
If you plan to keep the truck, makes sense to swap em out while you have it torn down. You will have to change the upper control arm though , as upper ball joint cannot be replaced separately.