Lower ball joints 4x4 diesel

[ocman]

So took Max into the alignment shop for a quick alignment and came away with a $850 estimate for needed repairs before the alignment could be done. So time to pull on my mechanics overalls and get greasy diying. The repair list included idler arm, pitman arm, tie rod ends and lower ball joints.
I think I can figure out the arms and tie rod ends, the ball joints is the challenge for me. From what I have gathered from service books, there is only one way to get these replaced, unmounting the torsion bars, popping off the upper balljoint, pulling the hub c clip off pushing the axle thru, popping off the lower ball joint (at this point cant i just unbolt the ball joint or do i have to pull the lower control arm?) replacing the ball joint and putting it all back together again.

If anyone knows any quicker ways to do this I am all ears.