I press out the rubber/inner shell then use a large tap. Put a washer in to protect the tap, use a vise to hold the tap, screw control arm on and press out... easiest way I found. I can't remember the tap size offhand, but got one on ebay brand new for like 15 shipped. One removed, just cut the shell off and do the other side.

I used to do other ways mentioned in the thread... but saw a post here a few year back and tried it this way and won't consider any other way now.