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That's a very good question.
A visual inspection showing cracks in the black rubber bushings at the top or bottom shows a need for replacement.
Another way you know they might be shot is the fact that when you go over bumps, you'll hear a clunk or noise coming from the loose travel in the stabilizer bar. It runs parallel to the axles and by way of the drop links, it attaches to the wheel carrier.
I have quite a bit of racket coming from the front when I brake and the suspension compresses, the rear when I go over speed bumps or through small potholes or cracks in the pavement, etc.
BTW, these are very easy to replace. Jack up the front or rear of the car, remove the wheels, remove two bolts (requires two wrenches to get to both sides of the bolt and nut), yank out the old, install the new, put the tires back on, torque them to 96 foot pounds, drop the car, and do the other end of the car. Shouldn't take more than an hour if you have all the right tools for the job.
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