Ok, having just gone throught this myself, heres what i reccommend:
Take it to a to a Toyota service workshop, or a specialist suspension place (i cant reccommend that enough!
Get genuine parts, BnT suspension arms are utter rubbish, I wore 2 of them out in 3 months of normal driving! The genuine ones are only a matter of about $100 more, so to save yourself some hassle get them!
Depending on what is worn out it will probably cost you somewhere between $500- $1200 to fix. probably closer to the higher end. But if all done properly you should get another 100,000- 200,000 k's out of it
