I just replaced mine on my '96 F350 2 wheel drive. did one side totally by hand and the other i used my cordless impact to press old ones out, pressed new ones by hand.

O'Reilly rents the ball joint press for free.

I also did my bearings, races, and seals.

 

oops, dbl post

 

I did my ball joints on my 95' F150 4x4 with auto locking hubs about 8 months ago. One thing to keep in mind is to lay out all the parts for the hub in order, makes reasembly a breeze. But the problem we came to was the castle nut on the top of my right spindle was frozen on. We ended up doubling up on the large boxed end wrenches, and with a little help from the torch they finaly broke lose. You might have it easier, my was a plow truck, and has lived its whole life in the northern rust belt, with salty roads. Also when I did mine, we replaced both front u-joints, brake pads and rotors. Good luck to you.