Let a professional do this job. Not an easy do-it-yourselfer job.
You can replace just the ball joints on the lower control arms , but the upper ball joints come with a new control arm
To replace the lower control arms on a 1994 Acura Integra safely raise and stabilize the car. Remove the lower ball joints and two bolts that hold the lower control arms to the car. Pull them off. Replace with a new unit.
I got a quote for $1300 to replace the bushings on both sides on my 1993 S15. Its very involved to get the control arms off and then the bushings have to be removed and installed with a machine press. It turned out to be cheaper to replace the control arms myself for $250 in parts.
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Answering "How do you replace the water pump on a 1994 Toyota Camry?"
You replace it when it has failed.
The ball joint is an integral part of the lower control arms. Ergo you must replace the entire lower control arm. Dealer cost is about $450 ea there's no aftermarket availability that I have found. My car's not worth the price of the parts ro replace the arms. RATS.