Andy, get a bar to pry the panhard rod, you should see movement if its there, Ive experienced swivel preload issues but its usually far less violent and you can often accelerate through it( panhard issues are quite worrying and violent if worn badly and it feels as though the whole body wants to shake free of the chassis), as for doing the job, undo the nuts remove the bolts, remove the panhard rod, burn the bushes and get a hacksaw blade to cut the inner bush and the cut a slot in the outer metal bush collar and cold chisel it out its a very tight fit in the panhard rod...
...be prepared for a lot of swearing it can be a pig of a job, replace with polybushes as they are far better , not too expensive and fit easily in two halves
Cheers Steve