I am in the process of doing this procedure myself on a 1998 explorer awd V8. I removed my entire lower control arm because I am replacing the bushings, but you shouldn't need to do that to just replace the ball joint. If you don't remove the control arm you will probably want to go ahead and remove the nut on the axle to pull the steering knuckle completely off. The hub will need to come off first to do that there are 3 bolts that hold the hub onto the steering knuckle. Remove those then pull the hub off then That allows you to have more room at the ball joint. The CV joint will get in your way some but you should have enough room to get at it. You will want a Ball Joint press for the removal and installation of the ball joint. You can go to Harbor Freight and get a ball joint press for $30 or I believe you can rent them. I got mine and Harbor Freight and it works fine.
But if you want to take the Torsion bar out all you have to do is mark it so you you know how it was set it there so you can try to get it back into the postion you took it out at. But you remove the shield on the rear end of the torsion bar, then using a 2-jaw gear puller you can use it push up on the part of the torsion bar that presses against the adjuster bolt to relieve tension on the bolt, then you can remove the bolt, and the rectangular nut piece the bolt screws up through. Then back off on the 2 jaw puller and you should then be able to hammer the torsion bar out of the lower control arm. And the Torsion bar falls out into your hands. When you go to hammer the bar out of the control arm put a jack stand under it so that it doesn't just fall out onto the floor. Thats it though. I just pulled mine out for the first time and it was pretty dang easy.
Most of these jobs are a lot easier with a nice impact wrench of course and some WD 40 or any other penetrating stuff.
