Why do you care what you have on the car right now? All you need to do is make sure the rubber bushings on the ones on you car are still in good shape, (ie. not cracked or split). If they are no good replace with the 2001-2005 versions. Otherwise keep driving the car as is.

I ask as I intend on doing the upgrade and there is no reason to buy arms if the ones on the car are already upgraded. I do not want to buy bushings for old arms that might not be on the car anymore and I do not want to buy later model arms if they are already on the car.

Has anyone replaced control arms on 2008 ES 350? Since mine has steering wheel little shaking when braking from high speed, I intend to replace it. Just wonder whether it is simple job that can DYI. If anyone has ever done, please give some advices, I greatly appreciate it. In addition, does it require to lift up or remove any engine or transmission mounts in order to remove the control arms out? Thanks in advance.

I would probably turn the brake rotors first but you should try posting in the ES section.