Replace front lower control arm

I have a 2003 ML270 and im trying to replace the front passenger side control arm. Ive taken the torsion bar bolt out, ball joint off, shock absorber is off the big bolt holding the control arm is off but now I'm stuck
1. How do I get the arm off the torsion bar
2. The very front has a anti roll bar / swap bar? How does this come out the control arm? There's no bolts, looks like it's been pressed it
Any help would be greatly appreciated
Rory


