I recently bought my '02 Pathfinder and had to replace the rear control arms. It has 190K miles on it and I am assuming the bushings had never been replaced. I just bought all new upper and lower Moog arms from rockauto and new bolts from Courtesy.
My Pathfinder has been a California and Texas car so no rust but the impact wrench that came with my Walmart air compressor would not budge the nuts. So I bought an Earthquake impact wrench from Harbor Freight and it had no problem removing them.
The position of the two different bolts were opposite of what the Courtesy parts diagram showed. I don't know which was correct so I just matched the new bolts to where the original ones were assuming they were installed from the factory that way. I only had to cut the tip off the forward bolt on the driver side upper control arm due to the sway bar bracket. I left all other bolts intact as there was nothing interferring with them.
I removed and replaced each control arm one at a time and did not need any straps, etc to get bolt holes to line up.
All in all it was a much easier job than I was expecting, only took me a little over 3 hours. I'm sure I was helped by not having to deal with rusty parts and having new complete parts ready to install. This thread really helped, too, so thanks.