What should that cost? I have seen the whole assembly new for 190.00 per side and I don't know if that is a decent way to go or not. Thanks.

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1998 C230 330,000 miles (currently dead of second failed EIS, yours will fail too, turning you into the dealer's personal human cash machine)
1988 F150 144,000 miles (leaks all the colors of the rainbow)
Previous stars: 1981 Brava 210,000 miles, 1978 128 150,000 miles, 1977 B200 Van 175,000 miles, 1972 Vega (great, if rusty, car), 1972 Celica, 1986.5 Supra

If you had the proper tools you could replace the bushings in maybe 15-30 minutes per control arm. The front bushings are also kind of a pain in the neck to remove, on my car one side came out pretty easily but I had to fight with the other side for a good hour before I could get the old bushings out. For 'reasonable cost estimate' purposes I'd pay for at least an hours labor with some additional charge for wear-and-tear on the tool. Total cost I'd call reasonable? Maybe $75? There are Chinese aftermarket tools designed to remove and replace W202 control arm bushings for around $180 on fleabay, the real dealer tool is around $650 IIRC.

One thing about having new control arms is that it would really reduce the total time of the repair. I think I could remove and reinstall the control arm in way under an hour per side. Having new arms could reduce the time of repair from an all day affair to a easy half day.

If I was in a hurry or wanted to be 100% sure that the repair would go OK so that I could have the car back in service for a next day commute I'd spring for the new arms. If I didn't have to compete the repair in a day I'd try to replace the bushings myself - it would take longer and be a more difficult repair but you could save at least a couple hundred dollars.

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98 Dodge-Cummins pickup (137K)
13 GLK250 (157k)
06 E320CDI (341K)
16 C300 (89K)
82 300GD Gelaendewagen (54K)