You can replace them without lifting the truck. When you install the new ones, you will need to compress them by hand to allow them to fit into position, but that isn't hard to do.
Here is a link that you may find helpful:
I attached the directions specific to your vehicle below. Note it says to lift the vehicle and then support the axle with a jack. In your case, the lack is the ground. LOL That is a lot of vehicle to lift. LOL
Let me know if this helps or if you have questions.
See pics below.
Images (Click to make bigger)
Wednesday, October 12th, 2022 AT 8:12 PM