Yes, there was a special tool set Miller #7932, with bolt #7604 and nut #7603. Last complete set I saw on eBay was $259 and the seller would not come down below $225. The guts of it #7932 has been discontinued by the manufacturer.
I have used various combinations of sockets, washer, nuts, and all thread and also combinations of the control arm and ball joint press kits from Advance.
I think others use a hole saw and drill the rubber bushing out and then smash in the outer sleeve with an air chisel.