My thought would be to at least replace the lower ball joints as a pair. Since you are most likely going to have to go to a shop to have this done, you might as well have both done at the same time. The lowers aren't expensive anyway. -Besides, if you are going to be taking all kinds of things apart while replacing the guide rod bushings, you might as well do the lower ball joints at the same time.
Then again, the tie rod assemblies aren't too crazy price wise either, and since you're going to have it up (and maybe borrow a separating tool) you might as well do the lot.
The upper joints/control arm, are a little pricier...But, since this is something you don't need special shop equipment for, you could just do one side at a time.

Good luck

-Larry

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It is a truism that almost any sect, cult, or religion will legislate its creed into law if it acquires the political power to do so. Robert A. Heinlein


09 Jetta TDI
1985 300D