You do not need to remove the control arm. I would check the How-To section for wheel bearing or hub assembly replacement, the process will get you to a point where you can remove the ball joint. I used the strap method to pull the control arm down with success. Once you get the knuckle and the control arm separated you should be able to separate the ball joint from the knuckle using a thin pry bar or flat head screw driver and some light taps of a hammer. Be very careful not to ruin the mating surface of the knuckle. After you have removed the old ball joint you should be able to align the new one and tap it in by placing an exhaust pipe coupler just big enough to fit over the rubber boot of the ball joint and tapping with a hammer. Do not use the bolts to suck the joint into the knuckle.

I believe I installed either Lemforder or Meyle on my '01 without any issues.