Suspension replacements.

I replaced mine with aftermarket, but as i warned you before do not do them unless something is wrong. I did mine because I was doing an engine swap and I though they were needed at 270k (they weren't).

The engine mount has to be undone and the engine has to be jacked up for the bolt to clear the oil pan. Or you could drop the entire subframe cradle like I did, then use an impact to back out the bolts, to find one of them has seized and ripped itself through the stamped steel cradle. Then spend another several hours welding the hole on the cradle back together and praying the alignment isn't f--ked otherwise you might as well drive the car off a cliff. Like I said, don't do it.

 

also from reading your post sounds like you need steering rack bushings not new suspension arms.

 

You are right about the control arm (i was thinking "idler arm"), but wrong on the outer tie rod, as I've replaced them on my '06. Heres a reference:
https://m.autozone.com/suspension-steering-tire-and-wheel/tie-rod-end/toyota/prius

 

"The 2nd gen prius doesn't have a "control arm", per se. It has inner and outer tie rods, a steering knuckle, struts and strut ends. "

"Um it most definitely has a lower control arm. I know because I've replaced them. There is no outer tie rod."

Great, now I'm further out into the weeds!