well, now that i re-read the thread, sounds like you have so much slack in the b-joints that you should get them replaced pretty quickly (if the upper ball joints are not replaceable then you need the whole upper control arm assembly). and it takes more than one parking spot to do it.
yes it would be safer for a shop to do it, as in the truck can't fall on you that way. i was talking on another thread about prices for replacing the b-joints and control arms. your looking at 500 to 800 bucks for both lower and both control arms (or upper b-joints) parts and labor and alignment. i could be off on that in your area.
edit: oh you better look in under there to see if your upper conrol arm is like mine - i just remembered your is a 4WD
w t-bars. mines a 2wd
with coils. might need somebody else to chime in for confirmation.