Heat and BFH... No other way to do them. I know guys like the u-joint kits but I've found that unless they're fairly fresh then they're fairly useless.
Now, be thankful you're not stuck with my last u-joint job. 2 blown outter D35 u-joints on my current Ranger. Front end's NEVER been touched in 15 years, up country truck. First time I use the 4wd I find that they're bone dry and they proceed to gut themselves on the trail. Oops. Now they're banging and squeaking, one side blew 2 caps out from the stress. I finally get around to doing them, 9 hours to do two, they're completely seized and "rust welded" in place. I stripped the largest bench vise I could find at Princess Auto (big bastard too), found that copious amounts of heat and pounding was the only way to free them up. Tons of heat and a shot of WD-40 helps, as well as with the ones that blew the caps I stuck the welder in there and laid a bead on the inside of the caps, and the heat sucked them in and away from the yoke. Another trick was once you get one cap out use it to pound out the other caps. I think it would have been less painful cutting my own fingers off with a butter knife than that job. Half the fun of it all was just getting the spindles off the suspension beams in the first place!!!!
Being a 2002 they shouldn't be too bad though. Hell, mine just finally got all new u-joints at 265k and 15 years. Maybe the new ones aren't lasting as long? Just the front outters were bad, the rest were acceptable. The reason they spit the needle bearings out in the first place was because the previous owner never used 4wd, spit out the axles seals too (another fun job!). LR
'09 Ford Ranger FX4 with a mean owner