And... success! Second arm went in far easier than the first, and I knew better what I was doing this time around. Took it for a spin, and it is much better.
I still need to do the A Arm, but I think I will have someone do that on a lift, and I will do the front Panhard Rod this weekend. Front arms are on the list as well, but those are not yet an emergency. I even remembered the anti-seize, in case I need to do it again. All in all I am happy. I'm putting this in the win column. Thanks everyone for all your help.