The info givin on the radius arms is correct. The ball joints are definitly a pain though. While you are doing them you might as well replace both the upper and lower. Basically it involve pull off the brake assembly, wheel bearings, rotors, spindle shiled spindle, and then you can get to the ball joints. You will probably need an air hammer/chizle to get them out, I imagen you could do it with a hammer, but it is easier to use air. Then you need to press them back in a reinstall. I did 'em at my shop and it took my 2.5 hours working at a leasurly pace. The book calls for 3 hours labor, i think. So you figure my shop charges $66 per hour so that is $198 labor plus parts, and I think the joints were like 15/20 bucks each so add another 80 to that (store cost I believe). So that should give you am idea. As far as radius arms the bushings are cheep and it takes like 1.2 hours i think to R&R them. The arms you could do yourself with out air, but I wouldn;t do the ball joints with out air.
Chris