Ball Joint Replacement

I'm going to be replacing the upper and lower ball joints on my 97 Explorer

4.0 OHV 2wd. I have a good idea how to do the uppers, but I had a few questions about the lowers. The service manuals I have say that the whole lower control arm must be replaced in order to replace the ball joints. In reading various post on this and other forums, I understand the lower can be pressed out and all the parts stores sell just the replacement ball joints. All the accounts I read so far have delt with 4wd vehicles. Mine is only a 2wd, so I was wanting to know what I will need to disconnect/remove in order to press the ball joint out since I don't have a driveshaft or ABS sensors to worry about. Will I need to remove the torsion arms and shock absorbers to do the replacement. Can a floor jack simply be used to hold the lower control arm once the joint is disconnected from the lower? If anyone could enlighten me, it would be much appreciated. Thanks.