The lower control arm bushings can be eye-balled from underneath. The rubber should not be squeezing out of the shell--and the bushings should be holding the crosshaft centered. The uppers are easy to see from up top--under the hood and can be checked by having an assistant grasp the road wheel at 3 and 9 position and move the steering back and forth. Bad bushings will allow the upper control arm to "rock". They are the most likely worn out parts--the bushings are a simple rubber piece squeezed into a reusable "shell". They are simple to change - do one at a time and you can use a floor jack or bottle jack under the lower control arm to support the works. Don't forget to check the rear suspension bushings -- bad panhard rod bushings can result in a very wobbly ride. -- Dave