Agree if u already hv em out u may as well change em, doesnt sound like bearings though, ususally get more signs if the bearings are going like clicking and even grinding especially when turning or at full lock. U can inspect the bearings on the car, take the boots off, turn the steering to full lock and watch the ball-bearings, they should drop cleanly as you turn the wheel, if they stick togeather prob time for a change.
Also agree about the bushes, worn bushes make floaty steering, most likely bushes on the LCA's. You can check jack the car up until the wheel is able to free spin grab the wheel and pull it towards you firmly, it shouldnt move.