I am not sure on the 93 but by the look of the part I would say you can with no problem. But for $25 I would have your fiend it unless getting the arm off is not something you want to do. But if you don't want to remove the arm it looks like the Zone tool will make easy work of the joint with arm in the car. However, I've seen people press ball joints in with the autozone tool and fail to get the seating of the joint right. Doing that will ruin the control arm in some cases as you will never be able to press a joint in properly.

Control arm bushings will help, but if they aren't too bad they will be fine for a few more years. (unless you off-road it) I have an 84 and my bushings need replacing. They are intact just cracking.

All thinks considered you are looking at time and money.
Autozone tool and arm in car = is fast and less money
Arm out, machine shop, new bushings = much more time a little more money