Originally I planned to replace upper arms, when bushings showed some tearing for all four arms. Upon close inspection, ball joints are perfect. I went ahead just replacing with four Delphi bushings for $8 each. I could go with Lemforder OE bushing for $14 each, which looks more durable. But I figured ball joints will probably go before bushings the next time around, and probably will not get more benefit from OE bushings. By the way, my car had only 58K miles.
The extra work is to use ball joint press tool to press out old and in the new bushings. Everything else is the same as changing upper arms. I borrowed press tool from Autozone and use 36mm oil filter socket, and it is not that hard. Car does feel more solid at hard bend.
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