I didn't. I just used the hooked end of a pry bar behind the shaft, wedged against the disconnect housing, and hit it a few times with the hammer to pop it free.
No, you don't have to take the sway bar link off. You will have to remove the upper ball joint. It's a tight fit but it I've gotten both cv shafts in/out this way.
I you undo the 3 hub bearing mounting bolts you can get another 1-2" of room to work with, Then just the upper ball joint and it should be easy. You should likely be servicing the disconnect while you are in there as well.