Quoting Mankee: Sometimes they can be seized into the upright, which is a bit of a pain. But there is a kind method using a nut and a bolt to "pop" the pin out of the taper without resorting to massive hammers, ball joint splitters and lots of blue language. mind you, if you are changing the ball joints, it doesn't matter if you shred the boots, I guess...
here
Works every time