I have a suspicion that Lewy was referring to the CV joint as the "ball joint" in this instance.
If so, then yeah, the shaft needs to be removed. But this isn't an issue. No other work needs to be done to the CV joint tho. 
You would regrease the CV once the boot is removed tho, as you're already exposed it and not to grease it would be a shame(in a sense).
But no, the ball joints(that is axle/steering) don't need to be removed. 
Never done one, but have removed axles to do inner seals balljoints and hubs, but I think you don't even need to separate axle from hub, as the boot retainer is exposed from the hub body.
So all you do is to remove entire hub and axle out of axle housing, replace inner seal(you'd be mad not too!) and slide boot over axle onto CV. 
discorevy can confirm this process.
				
			 
			
		 
			
				
			
			
				Arthur.
All these discos are giving me a heart attack!
'99 D1 300Tdi Auto ( now sold :( )
'03 D2 Td5 Auto
'03 D2a Td5 Auto
			
			
		 
	
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