Ford Explorer Lower Control Arm Bushings

Hello, I Was Hoping You Guys Could Give Me Some Details On Replacing A Lower Control Arm On The Vehicle Listed Above It Is The Xlt Model...

Front End Shimmys When Brakeing.already Replaced Front Wheel Bearings Rotors Calipers Brakes, Is This The Control Arm Bushings They Are In...

Will Bad Upper And Lower Control Arms Void An Inspection? Here In Virginia, They Are Pretty Strict On Inspections But I Really Don't Want...