The sway bar doesn't care. It's the bushings that care. The ones in the end links and the ones in the mounts. And on the mount bushing, "♦ Install the rubber bushing opening in the direction of the subframe contact surface."
You'll need both wheels hanging at the same height so the ARB is not twisted to remove the bolts, and then to install the bolts. But to torque the bolts, you lift the wheels to "ride height" specifically.
Basically, you just jack the wheel up until it starts to lift the body off the jack on that corner. That means the car is now "on the wheel" rather than on the jack. But that also means the car is now on however you're lifting the wheel, not on the jack. So you could at that point back it off a hair to get it back onto the jack and go from there. Still be cautious. The better way would be like alignments, where you just drive the car up on ramps or such that are elevated so you can get under the car, no messing teeter totter stuff.
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