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It took me two hours to replace both caster arms which I took really easy on mine. I do not know what the shop charge. If you are handy, you can do this yourself. It is the same easiest as changing the breaks. May be the CL here can chime in for the shop labor. Good luck.
I would hope under $100, they are easy to get to and pretty straight forward. And being up on a lift access is no issue, should be cakework for a shop.
You should also get an alignment after they are installed.