If you have to ask, then I would guess cost is a significant consideration for you. Bottom line, if ride height is even all around, and handling seems safe enough, then not replacing either will possibly be a better solution than just replacing one. If the car's behavior leaves you concerned, then replace both, since you don't know the age of either.
Steve
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'91 MB 190E 2.3
'08 RAV4 Ltd 3.5
'83 Lazy Daze m'home 5.7
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