With the car on jackstands, you should be high enough to tap out the upper bush with the lower removed. Unless you have an unusually high-precision adjustment on your floor jack valve, I would NOT try what you suggest. The idler arm bracket is not designed to support the weight of the car, and that is what you risk.
What you could try, since the car is on stands, is using the jack to push the pipe up into the idler housing. Still, very careful.... Tapping with a hammer is a lot less risky.
'91 MB 190E 2.3
'08 RAV4 Ltd 3.5
'83 Lazy Daze m'home 5.7