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Yes there is a special tool, and you don`t need to take the beam off, we never do that on any Sierra, Scorpio or Escos at work. But if you want to do more, like autoflock say, then take it off
I made the tool I use about 10 years ago, took and hour to make out of some 3/4" box section, this installs as well as removes with zero damage, with beam on car, just undo side you are doing place a block of wood about 3" thick between body and beam where needed for space, use tool, tkaes about 1 minute to get out, and about 10-15 to get in as have to do slowly and it is squashed in.
tabetha