Originally Posted by StephenVA

This project is not that difficult. All the bolts just need to be soaked now and turn them later is what is most required. The rear ball joints are the same set up as every E39, in fact you will find that everything looks like an E39 but just a tad larger, beefier, and thicker. Same processes for parts removal is required. There are lots of Videos out there to see the process.
Tip: Do the whole front first then move to the rear.

Using the ball joint tool makes pushing out the old and inserting the new part simple. It takes 1 hr to do the first side and 20 mins the second side. Just remember that you are pushing the entire joint into the pocket of the tool, so use the correct tool cup. If it binds, STOP and review. They push out TOWARDS the front of the vehicle and there is a C clip that needs to be removed before it will slide forward. Hit it with a punch and a small screw driver tip. WD-40 or PB Blaster etc all the way out and the new one in.

Good luck!