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If the part is bad replace it the only thing I know of the you should buy in pairs are shocks,tires,brakes,seat covers,if one tie rod end is bad that does'nt mean the other one is bad check it and see.
jack up and support van passenger side first with wheels straight remove wheel unbolt idler arm from center link and using a fork designed for removing front end parts some auto stores let u borrow / loan u fork remove idler arm unbolt (2) from frame replace and bolt in new one replace wheel other side wheels straight jack and remove wheel mark pitman at steer box so u can transfer mark to new pitman unbolt and us fork to remove pitman from center link us pulley to remove pitman transfer marks to new arm align up replace bolt up replace wheel done
Don't worry it is not too hard if you keep at. One "special tool" that you will need is a ball joint separator to separate the ball joint on the idler arm from the steering. When changing make sure to compare your replacement parts with the original and if necessary make a diagram of how things go together. On the bottom, there is a castle nut and a cotter pin. Remove the pin and loosen the nut then use the ball joint separator to remove the idler arm. (This is the hardest part of the job.) Then remove the remaining bolts and take the part off. Before putting the new idler arm make sure that you put the new grease fitting on it (and go ahead and squirt a little grease in it even though it already has some) and in between the new ball joint and the steering there should be a plastic bearing that slips into place. It's a pretty straight forward job and once you take a good look at it you will see what all needs to be done. Hope this helps, let me know how it goes. Goodluck!