If you haven't already listen to the dealer and get them changed out. My ball joints on my 2000 GS300 did fail. I was lucky that I was only going about 5MPH into a car wash at the time. The entire suspension collapses when this happens. My wheel was sticking out almost 90 degrees. Then you have to think about how they are going to get your car on a tow truck. It took an hour and a half for the tow truck driver and I to get it on the flatbed because the front was so low to the ground and was scraping as it went up the ramp. We ended up using 2 floor jacks to keep the front end up as we took it off the truck. Still there was damage to the front bumper cover and the fender. thank goodness for insurance!! If this had happened on the freeway I could have easily been killed.
I've been doing some research on this and have concluded that the reason they are so picky about ball joints especially lower ones is because they know there is a flaw in the design. GS300's where recalled in 1997 for the lower front ball goint failing due to poor lubrication. And if you listen to me and look around the web you will find that the design is still defective.