Here are the steps for removing the axle from the service information for your truck; this is all after the brake caliper and rotor are removed:
Remove the axle nut and washer
Remove the brackets from the upper control arm holding both the ABS wire and the brake hose
Remove the ABS bracket located on the top of the upper control arm ball joint.
Position a safety stand under the lower control arm
Disengage the wheel drive shaft from the hub by placing a brass drift against the outer end of the drive axle in order to protect the threads. Sharply strike the brass drift with a hammer. Do not attempt to remove the axle at this time
Support the steering knuckle and assembly with a piece of wire in order to prevent damage to the outer tie rod and ABS wire.
Remove the upper ball joint nut and separate the upper ball joint from the steering knuckle
Remove the lower shock
Remove the lower ball joint nut and separate the lower ball joint from the knuckle.
Remove the axle from the steering knuckle assembly. Important: you may need to lower the safety stand from the lower control arm in order to relieve the pressure of the torsion bar and in order to allow for clearance.
There really is no secret or special tool needed to separate the axle from the wheel bearing other than a large hammer and a punch (so as to not damage the threads on the axle by hitting it directly). These can become frozen over the years; sometimes a liberal amount of penetrating oil and a LOT of force may be required to drive the axle loose from the wheel bearing.
If the punch does not work, I sometimes use a block of hard wood positioned over the end of the axle instead of the punch; this allows a harder swing of the hammer. I usually use a 3 lb sledge hammer for this job.