Hi KS.,
Guessing here.., your motivation would be sloppy steering & you would like to be as close to factory spec. as poss.
Beings you have a '76 with the "inverted Y" linkage...?
(hasn't been changed)
There's 1/2 dozen good ways to do this. The lift creates an extra prob. or two.
You can get a cheap "pickle-fork" or two to seperate the tapered joints.
The most recommended mod/upgrade is to remove all the links & rods..,leaving the pitman arm. Then installing the earlier tierod/draglink set-up.
The whole works is adjustable, if you get the set with the adj. draglink.
Also, it's best to have an adj. track-bar for centering the body over the frame. (due to the lift)
AND.., you'll prob. need a "track-bar drop bracket" to avoid "bump-steer"
Point being., the "Y" style is fine for stock...but falls fr. favor with lifts & such... However., it all available if that's your preference.
(As far as I know., you can't repl. just the end joints.)
Either way., not cheap... upwards of $300 is prob. what you're look'n at.
All the EB stores are doing this swap... email or call., they'll walk you thru.