lower ball joints on 2001 4 x 4

got two worn out ball joints on the F150 4 x 4 at 130,000 miles. i have done front wheel drive cars before, assume this is similar. Who has done an F150 4 x 4?
---appears the ball joint is in the lower A arm, would it be better to take it off and go to the press?
---do you leave alxe shaft in place and pull hub outward? dont appear the ball will lift up with the A frame and miss the alxe bearing housing?
---i dont have the service manual for an idea.