I just did one on a 71 E-body about three weeks ago.

Easiest way was:

Disconnect Battery
Pull steering column back
Disconnect PS lines and plug them.
Remove Torsion bar
Remove steering cross link bar (or at least swing it away)
Remove Lower control arm from K-frame (this gives enough access for PS box to drop out) This will require removal of strut rod, shock, and if equiped, sway bar endlink. You should NOT have to disconnect the lower ball joint.
Disconnect exhaust H-pipe from both manifolds and push rearward to give enough room for removal of LH exhaust manifold.
Yes the manifold needs to be removed to make the job easy.
Remove Starter

With all that removed the steering PS box and exhaust manifold will drop out together.

2.5 hours for removal on the 71 E-body was what it took me. No scratched or chipped paint.

Assembly time to go back together was about 4 hours as its a bit tricky to slide the exhaust and PS box back into place and hold while getting hardware started. Having a third hand for the assembly would help.

I don't think trying to lift the engine is the answer.