From your excellent piccys, the linkage looks in reasonable condition.
Looks like most of the ball joint rubber boots need renewing but at least they are still there and not a glob of Vegemite like some I've seen
Without effective boots, the ball joint farts its' grease out and the moisture gets in.
That is when they get trashed and sloppy movement results.
I'd recommend you lube them at least, and if you can, replace the boots soon.
I reckon the idler bushes are the rubber type and you can see the bottom bush bulging out a little.
Years of engine oil and exhaust heat can do that
The idler ideally simply rotates in unison with the steering box and also in the same plane.
If you turn the steering wheel back and forth and observe the idler moving in anything but a circular motion i.e. fore aft or laterally, then it is worn.
Not terminal, but until you dissemble him you won't know the extent of any damage, if any.
When I got mine apart the pivot pin was corroded something awful.
Picked up a replacement pin section, new poly bushes, lots of lube and job done
Here is a little gem that you will need if you do the work yourself: -
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When you attempt to separate the BJ, make sure that the stud nut takes all the pressure by winding it out to the end of the stud, NOT like I show in this pic.
If you don't use the nut to take the pressure, the stud will mushroom out and D!ck up the thread
Don't ask how I know that
Once again not terminal but unless you have a die to chase the thread it can be a real bummer.
Don't even think of using the percussion device known as a pickle fork.
I can't think of a worse way to treat a BJ and trash the boot at the same time!