Has anyone done a front upper ball joint replacement on a 1999 ML430? I've done ball joints on other vehicles, and from what I can see it looks fairly simple to pull the upper control arm and either replace the arm or have a new ball joint pressed into the old arm. However, I've never worked on anything that uses torsion bars...just coil and leaf springs. Is there some way to unload the bar using the adjusters or does it require a special tool to pull the torsion bar, or do the bars even have to be pulled to work on the upper control arm? Any helpful advice is appreciated. Thanks.