Bushings? I wouldn't think this is the case if it only happens once in a while. BUT to check the control arms, you can always get the car supported in the front end where the Control Arms can move freely and hang freely. Then get a lever with a fulcrum under it to push up on each wheel for play. (Visually, you can usually see the bushing and know if its cracked or dry rotted)
There is always a chance that the TPS has an issue also.