I'm with Ed here. I don't really see a Pitman arm going bad on our cars. I don't see it as a WEAR item... If I were you, I'd just replace the Idler arm, and the Centerlink.
There is a tool for pulling the Idler arm and Pitman arms. It's the same tool, and to me seems to do less damage to things compared to a pickle fork.. But just incase, I'd rent out BOTH at the local AutoZone... I had two pickle forks, and used the smaller one on the idler arm, and the larger one on the pitman arm. Along with a 4lb hammer... My only concern with using the pickle forks on the pitman arm, is hurting the bearings in the steering box.