I see this problem a lot on 4WD F-150's and Broncos with the twin i-beam or TTB front end ,and my 84 Bronco was no exception. Part of the bushings will be gone or sagging from their original spot on the brackets. My way of doing it was to remove the bolts from the frame-mounted brackets and the end of the arms, then simply install new bushings. If this has never been done before on your rig, one or both of the brackets may be riveted to the frame instead of bolted. You can use a grinder to remove the rivet heads, then drill a small hole thru the rivets. Watch out for fuel lines inside the frame rail. This will allow them to pop out with the aid of a hammer and punch. Use 7/16" Grade 8 hardware to re-mount the brackets, and next time you replace them, it will be much easier. Use a floor jack under the axle half that you're working on, so you can get the new bracket bolts lined up on the frame. A come-along may even be necessary, it was in my case, to align the bolts. I used poly urethane bushings instead of the OEM rubber ones, too. It will take you 3-4 hours to do the first side, then about 1-2 hours to do the other since you know what to do. Go and get a front alignment afterwards-it will change!
In the photo below, the blue arrow points to the radius arm, the yellow is the bushing on the front of the mounting bracket (there's also one behind it), and the red arrow is one of the four rivets in the bracket:
http://www.supermotors.net/getfile/109931/fullsize/88bronco15a.jpg
(I added the lift kit with extended arms about two years after doing this)
In the photo below, the blue arrow points to the radius arm, the yellow is the bushing on the front of the mounting bracket (there's also one behind it), and the red arrow is one of the four rivets in the bracket:
http://www.supermotors.net/getfile/109931/fullsize/88bronco15a.jpg
(I added the lift kit with extended arms about two years after doing this)
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