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Turn the wheel to full lock and you can just get to the track arm to undo it, it's a bit of a pig but not impossible, I used a good pair of mole grips but you could grind a 32mm spanner to fit if you prefer
With genuine parts I bet you'll be looking around £80 - £120 per side
if you have a few tools you could buy them from gsf and do them yourself, it took me bout an hour and half to do both on the drive
I have yellows on my Clio and can't complain, change your fluid for super blue or simelar and you can't really go wrong, I can get you a set for less than £120 aswell
Mine was doing the same sort of things, I've changed the track arms and lower arm bushes and it's sorted but not 100% on which was causing the problems but I'd say track arms and track rod ends first, you can do them diy if you have some general knowledge of car repair
if you bring it over to...