OK< ball joints, they are sometimes bolted on, I hope yours is, you have to get in there to see, But you will also need the parts first, when you buy the ball joint, you will know what you got, either welded to the arm or bolted, then you can take off the arm or the ball joint. Either way, it should be no problem getting the thing off, get the car up, wheel off, don't get your legs under there, get dirty, and you might need another bottle jack to lift up the arm to get the bolts on. Check it out. Hope this helps.
Good you saw it before it comes off while driving. My Santa Fe front passenger side ball joint popped out on the road and pulled the right side gear shaft out when the wheel lost the lower support. Had to tow home and was lots more work replacing ball-joint while realigning gear shaft back into position. Anyway, if it's anything like my 2002 Santa Fe, you just need to jack up both sides of front of car (so wheels can be steered for easy access to joint), remove wheel, and remove the ball joint brace. A couple of bolts that may be hard to crack. Soak with WD40 and get some leverage on your wrench. Then install the new ball joint assembly in the old brace and install. I did need to order a special tool to get the C-Ring off and new one installed (it was a ring with no hole to insert my normal c-ring removal tool). I ordered the part at ReStockIt.com. (Snap Ring Pliers part number SKU KDT2534, $24.29, free shipping). Hope this helps. Good Luck.
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