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Did you figure it out? I have this control arm here and the ball joint is like press fit on a lip and secured with a clip. I think one of those cups/c clamp would work. If you can find a good price on the pair of control arms they've got the other bushings too so maybe worth it?
So the driver's side control arm was removed and taken to a machine shop to remove the original ball joint & then the after market one was pressed in. The machine shop charged $15.00
and the ball joint was $18.00. During the removal of the lower control arm the axle slipped out and gear box fluid leaked. A lot of fluid leaked, and man was it very dirty. Actually exceptionally dirty. The car is manual transmission and I have owned it since 2005. It has 230k miles.
Just so other xB owners know: The ball joint did not fail but was damaged 4 months ago when the front wheel hubs were replaced. The xB is a great car. It is running into regular problems now but for 13 years it was totally smooth sailing. My original alternator had over 200,000 miles. That was changed in 2018, starter failed in 2020, Same for front left wheel hub bearing.
Car burns oil for last 3 years. It still looks great.
If Toyota produced this car again using same part suppliers, and assembly plants I would go and buy it tomorrow all over again. Only I would take better care of it. Such a great car.