Only the lower balljoint can be replaced on it's own, the upper balljoint is part of the control arm, and the entire arm needs to be replaced.
I replaced my lower balljoints, along with inner and outer tied rod ends shortly after purchase of the mk2 GS (85k miles). The steering did feel sloppy (I had driven the Mk2 GS when it was new in 1998), after the new parts, the steering felt much, much tighter, and vibration was reduced.
It's normally checked at service time. Just because Lexus say it's ok, and it passes the MOT, does not mean the balljoint has not worn. It just means there is no excessive play at that time. IMHO, any GS or LS after 60k will have wear in the lower balljoints. These are heavy cars, and the lower balljoints wear out the quickest on the front suspension.
I got the lower balljoints from the States for 50 quid for the pair. Same with the tie rod ends. See linky
Olyonline