I did this in my aged Ls400, about 5/6k miles a couple of years ago, then followed by a similar stretch to Italy .... and my being so used to the car over very many years and not noticing any changes to the " comfort " level at all ..................... then up in the Dolomites on my Italian Grand Tour I heard a distinct but shallow " drop " sound ... but nothing discernible in the driving or comfort at all and certainly nothing visible at all ............ it transpired to be the near side upper control arm that had " gone " and it failed the MOT on that a couple of months later ................. did the repair/replacement and tbh, it didn't feel at all different for the renewal ....... and doesn't even now and that's some 30k miles since.
I'm not at all sure one ( well, me anyway ) can discern benefit from piecemeal replacement of worn components.
Malc