Replacing Pitman Arm and Idler Arm

1998 Tahoe 4WD 5.7L 150K miles - I was told by the dealer I needed to replace the idler arm and lower ball joints on my Tahoe. I was underneath the car most of the afternoon on Saturday trying to get the idler arm off. What's the recommended process for removing the idler arm and pitman arm. All tapered pins are holding tight and I can't get a puller in the tight quarters.

Thanks, Mike