I've used many primitive tooling when dealing with unloading and loading the torsion bar keys.  Some of it VERY dangerous.  I've come up with a no-special-tool-needed technique...basically relieving everything hanging up the lower control arm.
-remove caliper
-remove rotor
-unbolt sway bar end link
-unbolt shock
-unbolt CV shaft from bearing
-unbolt upper ball joint
-remove torsion key skid plate
-completely remove torsion bar adjustment bolt
With the lower control arm at full droop, step on it.  This will rotate the torsion key up off the nut/keeper block.  You may need a secondary person to assist, or you can do it yourself if you loosen the lower control arm bolts.  Remove that keeper block/nut, drop the torsion key out of the pocket and slide out your torsion bar.
Install is basically reverse.  I use a floor jack to manipulate the LCA angle.  And during this process, you'll want the truck on jack stands via the frame.
Hope this helped!