I believe a House vote would need to be made to successfully impeach them, and sadly, an impeachable offense needs to be cited. Then a Senate trial to convict them (2/3 of Senators, so unless the GOP really, REALLY loses Senate seats, we're unlikely to see a lot of these Trump judges getting the boot from their lifetime appointments). Only 61 have been impeached in our country's history. Most resign rather than get impeached.