Use a tie rod separator $12 at Autozone
And a Pitman arm separator: $12 at Autozone.
A few turns and the joint pops out easily.
The upper arm does not retain the spring, the body does, so no need to compress.
Remove the two 8 mm allen bolts, swing the arm up, remove the nut holding the joint on, use the tie rod separator to pop the joint out, put a new joint in and put it all back together.
When you are done have the alignment checked.
No need for a pickle fork. It would not work for me. I hammered away and it would not come loose. I then got the tie rod separator and it popped out easily. I first use a heavy duty puller to get the bottom joint out, but it required me removing the entire arm. During my front end rebuild, I got the pitman arm separator and the bottom joint came out just as easy.
Robert