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ball joints

I suspect that the front ball joints on my 4000CSQ are in need of replacement.
The rubber boots are beginning to shred, and the occasional odd sound (but
not a wheel bearing sound) can be heard on slight left turns.

Can ball joints be replaced without taking apart the entire suspension?
Bentley only talks about ball joint removal in the context of bigger jobs,
and it's not clear how much other disassemly is required just for the
ball joint.