If you're doing new control arms, I'm pretty sure you could use a hammer to break the rust loose and insert a long screwdriver. If you're reusing them, then a separator is needed to avoid any damage.
As for the inner tie rods, is not hard at all if you have the right tool. It's called "inner tie rod tool" and looks like a long socket. MAKE SURE TO PUT THREADLOCKER AND THE COTTER PIN for the new inner tie rods.
Check the tool here
Oscar.