From your pictures it looks as if your pasg bushing is shot. You do have the updated bushings so they have been changed before.
With the wheel off and the car on jack stands you can pry off the bushings with a bar.
You can even try beating them off. Replacing the bushings is going to be the cheapest fix, rather then spending 400$ on new arms. Becides changing out the arms in your driveway isnt very fun, expecicaly when the inner ball joint spins and you cant get the nut off. Good luck with that if your not using air tools.
To get the new bushings back on rub some liquid soap on the inside and just hit them on with a hammer, they pop right on very easly.
No alignment needed after replacement unless your worried about camber, then that might be off a little.
Also you shouldnt pay more then 3 hours to change out the bushigns and arms, if you go that way. Anymore time then that and your getting ripped.