I have just had to replace my steering arm as the bushing was shot.  was pretty simple and straight forward but ruined a pair of front tires figuring it out.  It makes an awful clank like a motor or tranny mount is broken as it lets the passenger side wheel go "willy nilly" over bumps and wears the tread from the inside so you do not notice it until you get under the car.  Jack up the car on the passenger side.  You should be able to rattle the tie rod arm and the center control arm up and down like doing a bench press if the bushing is worn out.  May want to replace the tie rods and get an alignment all at the same time.  If your comfortable splitting the tie rods its an easy fix once you have the parts.  No more than a weekend morning to do the entire job then run it to a shop to get it aligned properly.

Good Luck