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Best way to determine is to check them for play. Load up the spring and the ball joints will be "loose" if they are worn out. It can be done precisely with a dial indicator or by putting a finger between the two parts and feeling the movement. Loading up the spring means talking the springs force off of the control arms, usually done by jacking up the part that the spring attaches to. In most cases the boots will fail then the ball joint follows. Testing used parts from my parts car, unless your truck has lived a rough life, you should have a ways to go.
 
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