Lower Ball joints 99 Explorer

99 Ford Explorer 4wd 4.0 SOHC 110000 miles
The lower ball joints on my Explorer need replacing. The Hayne's manual says you cannot replace the ball joints, you must replace the entire lower control arm. That seems true for the upper arm and not the lower. My question is do I need to remove the torsion bar if I am not removing the lower control arm. I don't have the puller to do it and was hoping to get enough play to just press in the new ball joint. If anyone has done this procedure before any shortcuts would be much appreciated. Thanks