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Remove the brake caliper.
Remove the ABS sensor if equipped.
Separate Tie rod ball joint.
Separate Upper ball joint.
Separate Lower ball joint.
Reverse to install. Just make sure to torque the ball joint studs to the proper values when lining up the cotter key.
I think that's it. Very easy. I would recommend renting a pitman arm puller from AutoZone (free) or similar instead of the traditional "pickle fork" method. The fork is more likely to damage the boots and surrounding material.