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ball joints really can't be greased without a zerk fitting which our cars don't have (trucks usually do). That ball join may be okay for now but seeing as the boot is ruptured it could be contaminated or will be in the near future which will kill ball joints.
As for removing the stud usually a well placed smack of the hammer on the control arm or the spindle will knock it loose. Don't smack the ball joint stud unless you plan on ditching the upper ball joint.
Toyota and Lexus Join Mille Miglia For The First Time
Slideshow: A five-car lineup spanning more than five decades of Toyota performance and engineering will tackle one of Italy's most celebrated automotive routes.