Yes, the factory manual shows a custom tool for removal, but not needed (as are most special tools in the manual). I have removed many T-bars in my A & C body Mopars. I just pry-bar the Lower Control Arm backwards from the K-frame and the T-bar end pushes out the hex anchor (assuming you removed the rear C-clip retainer). Then, rubber mallet the LCA forward while holding the T-bar with your hand and it should pop out of the front hex. Usually, you don't even need to hold it since the rear hex will have cleared and rotated so it can't go back in at the rear. That avoids marr'ing the T-bar surface. If you grab it w/ vise-grips or similar, you may permanently damage it so it will later crack. I have always done this while restoring suspension, so need the LCA out anyway to change its bushing and the drag-strut bushings (at radiator support).
BTW, the grease in the hex at the rear is not to allow motion, but simply to avoid corrosion. The earliest cars w/ T-bar design didn't have grease or the rubber boot and salt slush in the rusty north soon packed in there. Within a few years, some rusted so bad the rear support rotated and the car dropped down to the bump stops. The redesign let it last thru the 3 yr warranty. Also, good to grease the front hex so it doesn't rust in place.