Your rear trailing arm bushings are bad. Don't worry too much about the upper control arms. Replacing the lower ones will fix your problem. You have a couple of options:
Replace the entire control arm with bushing already installed (easiest, most expensive)
Replace only the bushings (requires a press if you use standard bushings)
Replace the bushings with poly bushings (expensive parts, but no press required)
I did the last one. You can buy the poly bushings from Automotive Customizers (
http://www.4x4parts.com). I recommend the split design. Otherwise, you will need a press.
If you need a how to, let me know. There should be one somewhere on this site. Just do a search.