We gotta sleep sometime, lol.
Welcome to the forum.
Yes you do need to pull the axles to do the ball joints on a '94 Ranger 4x4, but they just come out nothing complicated
And you should do both upper and lower on both sides on a '94
I would change the u-joints on the front axles while you can, they are cheap and you have to pull the spindle again to get to them.
Look here: http://www.therangerstation.com/tech...ljoints2.shtml