The FSM recommends cleaning and repacking the front wheel bearings every 30k. That seems excessive unless you frequently drive on beaches, through mudholes or ford streams. I think 50-60k is fine for a street vehicle. Look at pages 8-13 through 8-15 of the Haynes manual for a good description of maintaining or replacing the bearings. Also, don't separate the rotor and hub when working on the bearings.

You don't need to remove the hub to change the lower ball joints. Just support the lower CA when you separate the joint from the knuckle. You may need a hefty ball joint remover to separate them, and use a floor jack to raise the CA during reassembly. After it's all together, take it to the alignment shop.