I just did mine today, took about an hour and a half. I used a ball joint removal tool that I bought off EBay, made for Mercedes. No grinding required. It ran $23.
This is how I did it;
1) Jack car, used jack stands and removed wheel.
2) Turn steering wheel to point rotor inboard to the max.
3) Remove horizontal (rearward/bottom) ball joint nut.
4) Us tool and BFH (big frigging hammer) to loosen ball joint tapered
5) Use tool to remove tie rod end.
6) Support front rotor/caliper/hub assembly. (wire ties or coat hangar)
7) Use tool to loosen and drop assembly from upper ball joint. (This
allows free access to the lower ball joints upper bolt)
8) Rotate rotor/caliper/hub assembly to provide easy access to lower ball
joint top bolt.
9) Remove top bolt and used tool/BFH to loosen ball joint tapered shaft.
10) Remove old ball joint.
11) instal new ball joint into it's upper position, install nut and tightened
12) Reinstall upper ball joint and tie rod while sliding the new lower ball
joint's horizontal tapered shaft into the tapered spindle hole. Align ball
joint pin in hole. Tighten fully.
13) Install nut on the lower ball joint's tapered shaft and tighten fully.
14) reinstall/torque wheel to specs. Remove jack stands and drop car.