This winter my winter tires had a sudden bout of inside shoulder wear whereas this was never a (major) problem on my 4.4. So out came the jack to check.

Checking for wear on the knuckle of the upper CA is not hard with an SLS. Jack up the rear of the car, take out the spare tire (remove ign key to be sure the pump doesn't kick in) and release the airlines going into the accumulators slightly so they bleed off pressure. Grab the rim on either side once the pressure has gone and see if it moves. My 4.8 which I checked last weekend had no movement but the 4.4 was a disaster area. Both upper CAs were completely shot.

I have the whole rear shooting match on order, including new bearings, to fix this.

__________________
2003 4.4i black ext./black int./black headliner (kid's runabout)
2014 535d X-drive, M package, silver/black interior

Sold but not forgotten:
2009 E70 35d, black ext./black int./black headliner (sold 2021)
2006 4.8iS Le Mans blue/cream int./black headliner, SOLD in 2012 sadly...

Other hardware:
2015 Cayenne S (wife's new DD and definitely wroooommmmm)
2016 Tundra 1794 edition crew cab, luxo hauler
2005 Tundra crew cab, weekend hauler. Sold after 150k very happy miles.