Hi all experienced folks out there!

I fully understand the front suspenson of my X100 Xk8 convertible..and all sorted..

But much less on the rear it seems..very little detail of work done and techniques, aside from the shocks..

I have already replaced the rear electronic shocks with much lower mileage parts, mine had done 126K miles! Newer ones at 65K, nad my goodness they were very very stiff, much beter than the 126k ones!
Yes new bottom bushes of course...

However I am about ot do the Anti-roll/Sway rear bushes and links.
But even studying the exploded diagrams, I am not sure how and what to do with the lower wish bone.
At the hob emd ther are the taper roller bearings, can they be greased,
I know the camber position has to be marked if the bolt is removed..
But the inner bushes, as far as i cam see are actiallynot in the arm, but in the rear anmd front frame parts Pendulum etc.?
So without removing the whole diff/subrame assembly, they cannot be changed?
Reason for all this, there is some times a but of a sideways skip over some bumps, but not noticable on hard cornering, along with occasional shimmy (like bad wheel balance) on some road surfaces..where others smooth as silk, around 70 MH..(never faster M'lord )

Thoughts please one and all..

Thanks