I haven't replaced the joint on either of my RAM pickup steering shafts but did on my old Jeep pickup. It was pretty straight forward, just unbolt the old joint, drop the steering gearbox, then beat the hell outta it with a hammer and punch until the joint comes off the shaft. Install the new joint, tighten everything up, and make sure your steering wheel isn't inverted. If it is (like mine was), take the joint back apart and turn the steering wheel 180'. LOL
OK, that was the funny process... Seriously, it isn't all that difficult...
1 - put a locating punch mark on the steering shaft and gearbox shaft
2 - drop the steering gearbox off the frame
3 - remove bolts and knock the old joint off the steering and gearbox shafts (plan on a good hammer and punch)
4 - thoroughly clean your steering and gearbox shafts with degreaser and a ScotchBrite pad, take a file to any really ugly gouges on the steering shaft and just lightly clean them up
5 - do not turn or freespin your steering wheel, I have heard it can screw up the turn signal mechanism
6 - install the new joint, install the hardware with Loctite
7 - bolt the steering box back on the frame
8 - check all your hardware again for torque
9 - go have a beer