Yes, you can rent a pitman arm puller at most autoparts stores. There's a trick to it, start applying PB Blaster a few days prior to removal. Attach the puller and tighten. Whack the side of the pitman arm where it's around the steering shaft with a BFH. Tighten puller and whack with BFH. Repeat until it's off.
A stock XJ pitman arm works as a drop pitman arm on YJ's, if you can find a used XJ arm. The ZJ pitman arm is even more drop over the XJ.