The arms don’t have to go anywhere.
Put the car up on jacks, loosen the torsion bar adjusters, then work on one bolt at a time so you can leave the UCA in place. Take off the nut, slide the bolt out, grease it, and re-install it. You can use a screwdriver or small pry bar to get behind the head of the eccentric and get the bolt moving. Repeat until you have all of them greased. Tighten them up snug, then set the torsion bar adjusters back to where they were. Put the car back on the ground, and then torque them to the factory spec.