Idler and Pitman Arm Installation

I am planning to replace the idler and pitman arms on my 4WD 97 suburban shes got 162K on her and still running strong. Will I have to remove the steering box to get the pitman arm out??

Sorry to all who wasted their time reading this question...Let me explain a little. I bought new tires about a week ago and the place where I bought them said I needed a new pitman and idler arm...they quoted me a price of $438.00 I asked why was it so high and they said because they had to drop the steering box and re-weld new brackets. I looked under the vehicle today and saw no reason to have drop the steering box....bought the parts today ,went with MOOG cost all together 110.00
and agian sorry to all who wasted their time.