sway bar link and bushing prius v 12

In short: Do I have to change both way bar end links at the same time?
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got his car recently 2012 prius v 75K miles

when I turn the wheel all the way to the driver side at the end I hear a clucking noise low speed or parked.

took it to a mechanic, said driver side sway bar link joints look loose (no rip)
and the sway bar bushing needs to be replaced,
the passenger side link is fine ,

The office said I have to change both way bar end links at the same time... Do I do both side?

can I replace the front sway bar bushing myself without a lift, just on top of jacks?

 

does the sway bar link makes much different in the ride quality... any brand recoemdnation?

just bought a set of 2 on amazon that offered lifetime warranty with good reviews for 30$, step up would have been mevotech TTX model for 80$ or original from Japan for 90$

there is also doorman xl for 45$

RockAuto

 

I meant for a pair including shipping

this is what I bought but I can order another if it makes a difference in the ride quality

KTR-100689