I am not an expert and not much of a mechanic but I am nearing competion of a steering system replacement that involved the ties rods, center rod upper arms lower ball joints damper and idler arm. My only problem was the lower ball joints. I was told there is a special MB "press" that is needed so I had that done for me. If the bearings haven't been inspected or repacked these can be done by a good indy at the same time as the ball joints. That's what I did since I don't consider myself an expert. I probably save'd a couple hunded in labor but the fun I had doing it myself was more valuable.
I second the suggestion to review the archives. Also get a shop book or haynes manual.