I left the thrust arm connected to the ball joint. After removing the two torx bolts, I smacked the top of the thrust arm (downwards) with a hammer, and they both popped out after one hit.

I've read that some people have had a hell of a time getting them out, but mine were super simple. Good luck.

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Now:
E53 4.4i Sport
E39 /// M5
back then:
E36
E30 (x2)
E21