Tool is Sir Tools M0085.

Look at the diagram in the link I posted.

As I recall I supported car on jackstands. Then support the end of part #6 with a floor jack. Remove nut and bolt 6e and 6f. I believe I removed the bottom bolt for the shock absorber too. Slowly and in a controlled manner lower the end with the jackstand to take the pressure of the coil spring. Remove and replace supporting joint with special tool.

Job is not technically difficult. You do not have to take the whole rear suspension apart just to change these supporting joints.