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The pitman arm can be a PITA to get some off. Mine came off with some help from my impact. You can get a new arm for around 75-100 bucks. You also need a pitman arm puller, you can rent one or buy one around 25 bucks. Also a pickle (spreader to pop the ball joint).
If the arm comes off easy it is a 30 minute job just to swap it out.
Dirk
To add to Dirk's post. You don't need an alignment if all you are changing is the pitman arm. They are keyed to go back on in the same position they came off.