I put the frame on stands and beat the joint out of the arm. To install the new joint I pushed it up with the jack and hit the arm with a hammer; the weight of the truck pressed in the joint.
Don't forget the snap ring.
Edit: oops, I didn't read that right. I thought you asked how to do it without pulling the arm. As far as not pulling the spindle, I doubt it. Really, the hardest part about pulling the spindle is disconnecting the lower joint.