you don't need to pull the box completely off... what you should do is, remove the pitman arm nut, then completely remove two of the bolts holding the box on and loosen the third, this allows the box to rotate giving you all the clearance you will ever need, then give the pitman arm a few good whacks with a hammer then use a pitman arm puller that you can rent from vhatozone (for like 10 bucks and get every sent of it back when you return it) and just use an impact to pop the pitman arm off of the sector shaft, oh and don't forget the PB blaster, and for the idler arm thats just as simple as three bolts IIRC and the hole assembly comes off the frame (id change the whole assembly, don't mess around and change just the arm itself)