You will need to readjust it no matter how you take it apart, so either the side cover or the bottom will work. It would really be best to pull the unit out of the truck and clean it correctly if it's really gummed up, then you could replace the seal and worn bushings if need be. I would fill it with solvent, unhook the pitman arm and turn it lock to lock a bunch to wash the insides, then pull one of the caps to drain if I didn't pull it from the truck. Repeat several times if needed. If it's not terrible looking when checking it with screwdriver or stick, just add some 50/50 grease/gear oil mixture and go.
