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The lower control arm socket just needs to be turned counter clockwise to the next flat.
With the torsion bar removed you can see the lower control arm bushing.
It just pops right out, install it the same way it came out. Remove the adjustment bolt first. You can use the adjustment bolt to help get the swivel back in.
Unscrew the adjustment bolt so it's not sticking out of the adjustment swivel. Turn the socket end (the part that the torsion bar goes into) of the control arm until it touches the adjustment swivel. Then it will go in.
By looking at the picture it looks like the u-joint end caps don't have retaining clips to hold the u-joint in the middle of the pinion yoke.
If it was me I would check the u-joint for movement after that floor banging.