actually changing the control arm isn't bad. I had to change almost everything on my passenger side and am in the process of changing all the stuff on the drivers side. depending on which one your replacing the upper control arm is bolted to a dog bone on top that has four bolts you have to take out along with a few bolts that hold it to the spindle along with everything else

. the lower control arm is pretty easy to replace just take a few bolts off put the new piece in and your good. i took my spindle, rotor, brake caliper, tension rod, both control arms, and tie rod out because i needed to replace them and it was the easiest way. you might want to consider looking at your tie rods and how much plays in the bushings in the tension rod and dog bone for the upper control arm.