New Ball Joints?

Just purchased an 03 TRD w/ 57k miles on it. Everything sounds and looks good when its running but one thing that caught my eye were the ball joints.

Do these look like they need to be replaced?

 

I'd inspect the boot to see if you can identify any tears or evidence of leaking. The build up around it suggests it has been leaking but those boots look fine from what I see in the picture. Another thing that wouldn't be too difficult is to disconnect the UCA and feel how much play it has. If it flops around easily it probably could use a swap.

 

With 57k on them they shouldn't be worn out. They might be a little low on grease. The top balljoints don't wear as fast as the bottoms. Mine had 250K on them and were still tight.
That's a great score to find a 1st gen with that low of miles.