Rear suspension - anyone replaced any rubber parts?

[snapdragon]

Guten Morgen Gang.
I'm coming up to 220,000 miles on my 06 A8 and have just put on my second replacement set of four front-axle upper control arms.
It still has a slight rattle so will be doing the four lower arms next, these are the factory originals so have got my money's worth!

After that I want to get a proper alingment and replace all four tyres, but prior to that wanted to also replace any rear parts that are worn.
The car sometimes appears to have a slight shimmy or waddle at the back.
Has anyone replaced and rear parts? I have never read about this in forums, and checking the rear with a pry bar doesn't give any hint of a problem with the wishbone bushes or control arms or anti-roll bar links, the bushes are vey small and not even sure if they have rubber in them..