Need more info:
Chassis: (ford, Chev, Dodge/Mercedes, etc)
Model: (e350, 3500, etc)
Year:
Tire Size: (16", 19.5, etc)
If you have a ford chassis, then chances are you have 16" tires/wheels. The torque is 145 ft/lbs. No problem for a 1/2 drive breaker bar and extension.
If you have the Chevy or Sprinter chassis, you probably still have 16" tires, but I don't know the torque values off hand.
You'll need a bottle jack and a jack stand, and a stable surface.
Jack it up to where the tires are still touching the ground, then loosen the lug nuts one at a time & gently re-snug them.
Raise the tires off the ground, put a jack stand under the axle, then lower the axle onto the jackstand.
Remove the tires/wheels.
That all said, I'd take it in to a shop & have them take care of it. You'll pay the same amount to get the tire(s) replaced whether you pull the tires or they do it.
A previous poster suggested rotating a front tire to the rear and replacing the fronts - that's a good low-cost method to take care of the short-term issue. However, if one tire went bad, the others _may_ not be far behind. Yet, they might run another few years/thousands of miles.
Some folks "peace of mind" will say replace 'em all now, but it is purely up to you.
Help that hopes!
2016 Forest River Sunseeker 2250SLEC Chevrolet 6.0L