I just did new ball joints on my brother's '94 Bronco last week.
On the early broncos, you need a spanner tool for the bushing on the top ball joint. It's for after you get the castle nut off, there's another screw in bushing.
http://broncograveyard.com/bronco/i-12204SS-spanner-socket.html
Another tip that helped on the '94 was to use a pickle fork tool on both the upper and lower ball joint at the same time to get the knuckle off the axle. Alternate hitting the top and bottom with the hammer.
Rent the 4x4 ball joint replacement tool from the auto parts store if you don't have one. It works great.
For the races on the hubs, just drive them out with a brass draft and a hammer. Keep the old races and use them to hammer on to drive the new ones in.
Don't forget that you need new hub seals when you replace the inner bearing and race on the hub. Don't forget the seal for the spindle bearing, and might as well replace the slinger and seal on the axle stub...
https://www.wfoconcepts.com/pr/Dana-44-Spindle-Rebuild-Kit/3164/3171/3442