Have not done this on your truck but book says just the upper ball joint needs separated. See procedure below from autozone.com. Please let me know if you have questions.
- Remove or disconnect the following:
Front wheels (left side should be sufficient in your case)
Front hub cotter pin, retainer and nut (axle nut)
- Using a floor hydraulic jack, support the lower suspension arm.
Upper ball joint cotter pin and castle nut
Knuckle from the front suspension upper arm
- Lower the lower suspension arm and steering knuckle slightly to facilitate easier halfshaft removal.
- Remove the 2 disc caliper mounting bolts, then lift the front disc caliper off of the front disc brake caliper anchor plate and position aside. Do not allow the caliper to hang by the brake hose; suspend it from the vehicle's frame with strong cord or wire.
- Remove the 6 front halfshaft-to-differential bolts.
Use care to avoid damaging the hub seal when removing the front halfshaft.
Fig. Halfshaft-to-differential mounting bolts (3 of the 6 bolts shown)-2001-03 F-150 and 2004 F-150 Heritage Edition
7. Remove the inboard end of the halfshaft from the differential case or extension axle case. Separate the front halfshaft and joints from the hub, then remove the halfshaft and joints from the vehicle.
- Slide the halfshaft outboard end into the hub, making sure that the splines engage.
- Situate the inboard end of the halfshaft against the front differential flange and install the 6 halfshaft-to-differential bolts. Tighten the halfshaft bolts to 60 ft. lbs. (82 Nm).
- Install the front disc brake caliper onto the rotor and anchor plate, then install and tighten the 2 caliper mounting bolts to 21-26 ft. lbs. (28-36 Nm).
- Lift the lower suspension arm and steering knuckle up until the upper ball joint stud is inserted into the steering knuckle. Install the upper ball joint castle nut and tighten to 57-76 ft. lbs. (77-104 Nm). Install a new cotter pin.
- Install the hub nut onto the halfshaft and tighten the hub nut to 221 ft. lbs. (300 Nm).
- Install the hub nut retainer and a new cotter pin.
- Install the front wheels and tighten the lug nuts in a star-shaped sequence to 83-112 ft. lbs. (113-153 Nm).
- Lower the vehicle to the ground.