Do you have an air-compressor? The fastest, easiest, way is to use a air-hammer, they nearly fall off. You'll likely mush the ends of the bolt heads a little, so you can either grind the heads a little to fix them, or replace them altogther.
Turn the steering wheel all the way to one side, and you can access two of the bolts,(on each side of the truck) and then turn the wheel to the opposite side and get the other two bolts (on each side).
Rob