Having the tires off the ground makes it SO much easier. Think of it this way: with the tires on the ground, you're trying to pull the tire towards you even though it has all of the weight of the truck on it, just by turning a bolt. That'll take a lot of muscle or a lot of leverage. With the tires off the ground, it can move side to side with no weight on it.
AS FOR STRIPPING THE BOLT HEAD!!!!!!!!!! As a fix, I used a file to file it down to a 14mm instead of the original 15mm. Just make sure all the edges are clean and even.
'06 Ranger XL 2.3L 2wd Auto Trans
Clear Corners and a Roll Pan