I just done this on my 04 2500 GMC. Pitman arm, idler arm and bracket, inner and outer tie rod end...Done for about $250 in parts/tools. Luckily, my bearings and a arms were all in good shape. But I do have a good air compressor and impacts.
Ebay can be your friend. ($50 for inner and outer tie rod ends...moog brand new) Bought the pitman arm/idler arm/idler bracket from RockAuto. Be careful though. Some pitman arms are 3 keyed, and some are 4 keyed. Mine was 4 keyed, and RockAuto sent me a 3 keyed. By the way.. I have a new 3 keyed Moog Pitman arm I'd sell you. On the control arms, you can buy complete NEW control arms for about what you would pay to have the joints installed/pressed in with parts.
Do it yourself. This is NOT a hard job...well everything besides the pitman arm. The pitman arm was a pain in the arse. I had to cut mine off. But everything else is a simple bolt on. Measure your old inner/outer tie rod and install the others the same length. Get it aligned.
