Control Arms replacement

[aw4golf]

 I bought a used 2012 RX450h (with 94,018 miles & now have 97452 miles) and my trusted mechanic said his 'book' shows 17 hours labor to replace both front control arms due to having to lower the 'sub' frame first then raise the trans and engine to get to the arms to replace the arms.  He showed me that the right front wheel moves when he slowly backed it up and braked. The wheel moved forward (didn't stop like the body did).  I go to him because he never upcharges for parts that you don't need. This appears to be the first RX450h he has done because he had to check on the labor hours. His labor rate is $110/hr.

Anyone know if there is a quicker way he could use to do this repair to reduce all that labor cost?