You should be able to insert or remove the bars by hand.
With the car off the ground take the adjuster screw out, but Measure it so you can put it back like you found it. Take it out by hand, not with a gun, you can strip the fine thread. Take the clip out of the other end of the T-Bar.
I use a 14 or 18 inch pipe wrench. Do not put it on the torsion bar. Never do that, you will ruin it.
If you're doing the drivers side and you are facing forward, place the open jaws of the wrench on the socket- unit that holds the front of the bar. The jaws should be open to the right. Spray around the T bar front end with penetrating oil to help it slide out.
Close the jaws down and push or pull the bottom of the pipe wrench handle to the right about an inch. The socket holding the front of the T-Bar will rotate {counter clock-wise } , moves about an inch and it will stop, hold it there.
Pull the torsion bar straight back with your other hand, you may need a rag or gloves if its slick, it should easily come right out.
Doing the passenger side, reverse the wrench position.
Open jaws facing the left.
Hope this helps.