If you are not a die-hard DIY mechanic with lots of patience, fairly hefty tools, a decent bottle jack, and a Bernzomatic torch, I would most likely buy the complete upper and lower control arms with bushings already installed. You can get the part numbers by calling a Toyota dealer, giving him the VIN, and ask the man for the part numbers.
Don't forget the steering rack mount bushings and the sway bar bushings either.
You can disassemble and reassemble everything yourself. Google "Timmy the Toolman" and download the videos he has made on replacing those parts first. The viewing is well worth it...