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I would and I have just replaced mine. I replaced bot the upper control arms and both lower control arms on my 2005 with 185K. I was getting clunking which I believe was mainly caused by lower control arm#2 which some people call the caster arm.
I've had the dreaded clunking for over 4 years gonna get bushings replaced by a buddy who works at Mercedes with my brother, $100 labor I said deal! I can't deal with it anymore, we had it on the lift last week and my caster arm bushings are cracked all the way through, I'm really hoping it rids the problem, it's the only thing holding my car back, as far as are u ok with driving it like that well yea, you'll be ok for awhile as long as the bushing didn't slip through the sleeve and you don't have a ton of clanking going on you'll be alright, I wouldn't fly down the highway or anything but you will def wanna get it taken care of, U don't specify which bushings on which arm are shot? Pics?
Do you mean Roca? Either way, how do you like them?
Oops, yes--Roca. I purchased them off of their website, but after ordering I found them cheaper on EBay. In any event, I'm quite happy with them; the car felt fine before, but now it just feels...younger.