the way i've done it for years is, i ass down the bolt with the ball joint end in about the position it will be in under load, then pull down the ball joint end into it's hole and tighten, it's not a exact science it just needs to be close to keep the bushing happy. crawling around under a car trying to ass down bolts just sucks if you have a lift
one way to make it easyer if you must do it under a load, put the car up on ramps or some other safe non tipable or squashable object
all america wants is cold beer warm cat and a place to take a poop with a door on it