The 4wd trucks suck. I have never done a 2wd, but I would imagine the control arm could be removed and put in a press to change the ball joints.
You will need the correct tools if you do this on the truck, and it will take just about everything you have to get the old ball joints out, including a hot wrench.
All the trucks I have done require burning the ball joints off, as the hub is always stuck in the knuckle. The heat helps get the ones out.
It is doable if you are handy with working on vehicles, and if you have good tools. If you are not comfortable with heavy truck work, take it to a truck shop to be repaired.
You will likely need to replace the wheel bearings as well, and this will probably be a $1,000 job.
-Rich