Everything needs to be removed from the front suspension of the truck. The shocks, swaybar, steering arm, half-shafts, calipers, rotors, torsion bars, torsion bar cross-member, upper/lower a-arms, driveshaft, differential, etc.....

To begin remove the shocks, swaybar, tie rods and steering arm. Then remove the half-shafts.

Then you can put a jack under the lower a-arm and unbolt the upper a-arm. By unbolting the upper a-arm, you should have enough movement to remove the pressure on the torsion bars by lowering the jack. You should mark the bars for placement in the lower a-arm and placement in the adjuster at the rear of the bars. The adjuster for the torsion bar should be marked/rusted already, but you might want to spray some paint on them, so that you have a starting point when you put the bars back, in the event you need to loosen them to get the bars/adjusters out along with the adjuster bolt/stop. You can knock the torsion bars forward with an air chisel, or if yours are as rusted/stuck as mine were, you could save a lot of time by releasing the pressure on both torsion bars and unbolting the torsion bar cross-member and sliding it backwards off of the bars.

side notes: On my truck the pitman arm was stuck in the steering arm, so I removed it from the steering box and bought a new one($23.00). It would have saved a lot of time to do this from the beginning. It was just one more part that's now new. The only part that I didnt replace was the idler arm, since the dealer replaced it in 1999.