That's exactly what I use. A tie rod/pitman arm "puller" puts pressure on the taper joint and protects the threads as well as the joint at the far end. I still use a light hammer blow if necessary, but often it is not.
Puller kits sure have changed in price. When I had my shop, mechanics always brought thier tools along when they applied for a job - and rarely did any of them have their own pullers. Pullers were expensive "shop tools" and usually not privately owed. The same went for floor jacks, transmission stands...etc.
Now I see complete puller and seal tool sets selling for under $100. Thereis simply no reason not to use them. BTW, noone has mentioned the ball joint "pickle fork". I don't think mine has left the bottom drawer of our roll around tool box in years. Someday some young mechanic will wonder what it was used for.
rScotty