I have the ZG and have changed all 4 arms. If they have been fitted with adjustment on yours and the arms have been changed without attention to alignment it will handle like the steering and wheels are about to fall out (going through this at the moment).
They are easy to identify: At the front of the arm there is an adjustment cam under the bolt (only on the lower arm) on each side.
If these are maladjusted the diff housing will not sit directly across the vehicle and yup, it is scary (with only a minor alignment problem).
These arms are not really expensive in their cheaper versions, why go 2nd hand?
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There are 4 wheel drives, and there are Jeeps... seems I found out too late in life.
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