The last nuts to be removed on the driver side are from the upper and lower A-arms. We then took out the cotter pins but didn't remove them; we loosened them just enough to give us wiggle room. With a little luck, the ball joints will pop away from each arm on their own. In our case, only the upper ball joint popped loose and we had to rent a ball-joint remover from a local auto parts store. We stuffed it between the lower ball joint and the spindle, and with a couple quick thrusts from a large hammer, it popped loose.