I removed the torsion bars on two A-bodies and one C-body. I never needed a tool. Unload the screw, remove the rear wire clip, loosen the nut on the front Lower Control Arm (LCA) bolt, then pry between the LCA and the K-frame with a crowbar. The LCA should slide back & push the torsion bar thru the rear anchor. Tap the LCA forward with a rubber mallet to pull it loose from the front anchor, repeat as needed. Then push the torsion bar thru the rear anchor.
A few points:
Don't mix up left and right. They usually have an L & R. Mopar also uses odd & even PN to distinguish sides (forgot which). I accidentally swapped them on my 69 Dart, which was nice because the reverse sag let me set the height properly. However, some say they will break in time if swapped. I hope they broke on the SOB who stole my car a few years later.
If you feel you must grab the torsion bar with a tool, don't use anything that will gouge it since could cause a stress point that will fail. You could buy a tool like shown in the repair manual. Some have made their own from pipes and clamps. I never needed such a tool.
The grease is not for lubrication. My understanding is that it is only to stop corrosion. None of the parts should slide in operation. I understand the early cars did not have the rear rubber boot or grease and the rear anchors soon rusted (up north) so bad that the torsion bars spun around. Rusted bars could be very hard to remove. If you don't care about NOS, Energy Suspension offers a polyurethane boot fairly cheap ($9 ea I recall). I got red to accenuate the upgrade. The poly should last longer than regular rubber.
Energy Suspension offers a polyurethane bushing for the LCA. Rather than twist like rubber ones, the poly slides and needs a special lubricant. It seems quirky to me and others since the only thing securing the LCA in the axial direction is the tiny wire clip at the rear of the torsion bar. Perhaps friction is enough to secure them. I wouldn't want any grease on the torsion bar hex surfaces or anchors, just around the ends to repel water. I didn't use them because I was also afraid they would give squeaks and thought the sliding might make them wear faster than rubber ones degrade. Not an issue for racers.