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Sounds like your rotors are warped. If you're only getting a shaking in the wheel when applying brakes, that a sign you have issues with your rotors. Second if your changing control arms, the driver's side is going be more work. The transmission sits above the bolt and will require you to lower the sub-frame to get clearance to remove the bold. FYI though, when re-installing the bolt for the driver's side control arm, install in upside down. That way should you ever need to remove it again, it will make it a lot easier next time
 
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