i have the FSM, and it says to use special service tool blah blah to get the ball joint off, I could order it from toyota.spx.com if i want to get raped. The hayes manual says to use the tool pictured in the center of this, but my local HF doesn't have it in stock.

http://www.harborfreight.com/cpi/ctaf/displayitem.taf?Itemnumber=92882