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everythign ive read and seen is that the 01-5 ball joint differ slightly in appearance to the 98-00. the 98-00 has a flat surface on the part it faces towards the hub. i believe toyota/lexus addressed the issue in the 01-05 and redesigned it a little and made it stronger. that flat surface now has a "hump" on it.
however, reading everything on here, the lower ball joint is still an issue with the gs's.
Depending on the mileage on your suspension its a good idea to keep an eye on the balljoints and various front end bushings, and if funds allow its good to change them out around 100k. It is good preventive maintenance to do
01' GS430, 134k, OEM balljoints, they don't show any signs of wear so why replace? My wheel doesn't shake, there is no play, so I just keep checking them and giving them a clean bill of health, I check every 5k when I rotate my tires.