Just crawl under there and unbolt them. There isn't really any trick to it. Spraying some penetrating oil on the bolts (and letting it sit for about 15 minutes) should help them come off a lot easier too; I definitely recommend doing that.
Can you post a few photos? I could be of help if you do that. Just have to see the set up,
It's been a while since I helped a friend with his RAM end links.
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