No lift needed. I did my 2006 in garage. Placed on jackstand direct to frame so I could use my floor jack to raise / lower the suspension to help align the ball joint with the hub etc... As for mixing of fluid... IF your replacing the Passenger side AXLE shaft... It has an inner and out shaft... Once removed, it is possible for CVT Trans fluid to drain into your Transfer case. To prevent this... Drain a couple quarts of CVT into a clean container. Replace axle shaft. Then refill the CVT fluid. It's a good idea after the job to drain your transfer case fluid and replace... as this is the most abused / overlooked fluid on your Murnao. It holds very little and every time I change transfer case fluid on a Murano, it comes out very black. It's a simple process, but there is limited space to remove the fill bolt, and get new fluid pumped back in. I use a hand pump that runs from the gear oil bottle, and place a 90 degree plastic fitting on the hose end that slides into the transfer case plug hole... then pump slowly until fluid runs out. There's about 1" clearance to do this. It only takes about 1/2 quart. I use Mobil 1 75w-90 synthetic. I've replaced the Transfer case fluid on 4 Murano's and 2 Rogues that I've owned.
So Control arms are a DIY job. No lift needed. A good pickle fork or two pickle forks are needed to release the old ball joint... Some can be a bear. A large shot peen hammer works too. After replacing, my Murano continues to drive rock solid. It's been 30,000 miles and I used Advance auto parts brand and a 30% coupon... so just over $100 bucks per control arm!