It takes a pretty good quality ball joint replacment tool set to install and set the new ball joints in place but it's not a job that requires an axle guru to install. You can probably rent one from an auto parts store but it may not have the right adapter for the Wrangler's ball joints so be wary of that. Moog is a very good brand of replacement ball joint.
But I'd have someone with some big guns (arms) push-pull on the wheel assembly from the side while you watch the ball joints for movement. Make sure they're really bad before going to the effort of replacing them. My TJ has 180,000 miles on it and 80K of those are with 35" tires and my ball joints still seem to be in fair shape.