It's not easy...but I replaced my rear control arm ball joints. Definitely was needed after 186k miles. I also did the front control arm ball joints too. Tho...there's not that much rust here in the PNW.

I used this tool: https://www.autozone.com/loan-a-tool...ece/449947_0_0

If you get a "loaner tool" with an arbor that is slightly bent...it makes everything difficult. Anyway...there's a trick to it. I will say that freezing the new ball joint def helps with installation.

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2003 BMW X5 3.0i -- MT5, 3.64s final gears, H&R lowering springs, K-Mac bushing kit
2007 BMW X3 3.0Si -- MT6