Control arms

So I'm fixing up my tundra. I did the timing belt , radiator, serpentine belt, tensioner, front quick struts, rear shocks, new rotors and calipers up front, drums and hardware including wheel cylinders in back, sway bar bushings and links. Now a bushing in the lower control arm is fudged so I'll be replacing both lower control arms. My question is should I push further while I have it apart? I heard you have to unbolt the rack and pinion to remove lower control arm cam bolts. Should I replace the upper control arms, rack and pinion and tie rods?

 

I only replaced the upper control arms, and the ride is way much better. If you replace the lower arms, there's a link showing how to do that. It looks like you'll only need to pull the rack opinion boot back, then slide the control arm bolt underneath.
https://www.youtube.com/watch?v=a5rPk4AzAfs

 

Thanks. I'll check the video out tonight. I'm sure I need to do the lower control arms as well. Truck has 200,000 miles and it doesn't look like anything was replaced. Rather than mess about I'm thinking it would be better to replace upper and lower arms as well as upper and lower ball joints. Rack and pinion too. Its expensive but probably worth the money, time and energy. I'm trying to find the right ball joint press too. Any ideas?

 

1a auto has all the parts for around 650 bucks