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Detailed video on how to replace a pitman arm, specifically on a 2005 Chevrolet 2500HD with the 6.0L gas engine (details may be different for the 8.1L and diesel).
Tools required:
Properly sized pitman arm puller
21mm socket and wrench
32mm socket (it'd be nice to a 32mm wrench)
Impact
3lb sledge
pry bar
jack stands, jacks, blocks
This video is for demonstration purposes only. Any work you undertake is at your own risk.