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Im not going to tell you this was easy because it was not - at least for me - but I was able to replace my rear control arms myself in my driveway. Ive done one side on my (now scraped) 02 wagon and both sides on my 05 ZX4. This was a few years ago and Im not sure I could do it today as my arthritis is much worse.and then I get the fun of figuring out how to cut the old one out without damaging the knuckle.
To cut out these control arms Ive used a reciprocating saw (sawzall) and a thin cutoff wheel and found the thin cut off wheel to be easier. If you go with a saw be certain to use a carbide blade. Either way you need to cut so that you do not cut into the trailing arm. Click on pics for larger.



After the the arm is out you still need to deal with the small piece of the outer bolt that remains in the welded nut on the trailing arm. It is held in with thread lock from the factory so you need to heat it with a torch then work it out by grabbing the end of it with a vice grips.


Once I got it moving I cut a slit in the cut end and used a large screwdriver to back it out





Paul