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2nd Gen Ram Tech1994-2001 Rams: This section is for TECHNICAL discussions only, that involve the 1994 through 2001 Rams. For any non-tech discussions, please direct your attention to the "General discussion/NON-tech" sub sections.
The job would be easiest when done on a lift. You will not be able to do the job without at least jacking up each side to relieve pressure/weight off the control arm to remove it.