Planehauler

I have been slowly trying to get my truck back into shape after a couple years of letting things go. (I haven't beat my truck up or neglected basic service, Just found myself out of work and putting things off) I have a question about the ball joint work. Some of the videos online show removing the half shaft from the differential, while others just show pulling the knuckle off the shaft and moving the shaft over out of the way, resting on the sway bar. I have the Haynes manual and as soon as I determine exactly what I need to do, will dig into the manual. I'm just trying to familiarize myself visually with the procedure so I don't go flopping around and end up lost with parts all over the place. So, have you that have replaced your own ball joints on 4wd trucks had to remove the half shaft? Or wished you hadn't after getting things apart?