I have had mine off twice, first to replace the bushings which did not last, then I simply replaced the whole assembly with a new one. I bought a Raybestos 502-1287 Professional Grade Control Arm and Ball Joint Assembly off Amazon and it actually looked like a better quality than the one that I removed!
Safety First!
It can be done in your driveway using either drive on car ramps if you have them or good jack stands? With the rear wheels lifted up and the vehicle on Jack Stands, or setting on the car ramps, to allow you enough room to get underneath to the three bolts that hold it on the Jeep.
A little trick I learned: Chock both the front wheels so it cannot move in either direction while the rear end is elevated
Place the transmission in neutral with the emergency brake ON very tight.
After removing the old one,
Install the new one inserting the two body bolts first, then using a long screwdriver or pri-bar inserted right in front of the rear U-Joint; rotate the drive shaft in the direction you need to get the ball-joint stud on the control arm to line up with it's mated socket hole on top of the rear differential and pull it down into the socket and insert the pinch bolt.
