How to replace KDSS front sway bar bushings?

[ukrkoz]

My son has 05 GX with KDSS system
Front sway bar bushings, ones on the control arms, are toast. We have new ones, but I am seeking the wisdom on how to replace them, before I get myself into trouble. Reason being, when we had truck up on the lift today for tie rod ends replacement - both were meh, almost toast - and I started undoing bushings bracket, sway bar clearly started moving down and forward, towards the radiator. AWAY from the control arm.
What made me stop right there and redo the bracket bolts, as I didn't want to end with bar shooting away from the control arm and us not being able to bring it back.
Any tips?
Thank you. It is definitely not the same, as for non-KDSS vehicle.