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I haven't done that particular style beam. But it looks like there is a shoulder on the nut side of the ball joint. There should be a circlip on the opposite side. Looking at your pic the first one to remove is the bottom right, then use an extension thru the new hole to get to the last one. Use a ball joint removal tool. I bought one from Princess Auto [Harbor Freight].
Edit; Looking at your first pic, remove the top joint first.
Edit; Looking at your first pic, remove the top joint first.