I wrote a thread on it 7 years ago, later on it raised a lot of unneeded hell.
Set the truck straight, support the frame, if necessary remove the 4 bolts holding brake cans and S cam bracket
and rotate up out of the way, back brakes off first and single the wheels to outside.
Use a gas powered cutoff saw pitched up resting in the front on a 2x6 block. Cut through the rubber bushing,
large pin and retaining bolt on both sides of each beam. Use floor jack in center of beam remove the 4 trunnion
nuts, knock caps off lower beams. Takes about 8 cutoff wheels, can do it in 1.5 hrs including setup.
Done many, many that way. I won't repeat this procedure.