Ride is getting rough, steering a little 'floaty'

[CJRM]

Our 2012 450h is almost ten years old now, and while running very well generally it's starting to show its age. On highways the steering feels a bit loose, and the ride isn't a smooth as it used to be. I'm thinking of having the suspension overhauled to fix the rougher ride, but not sure what to try with regards to the steering. Just get it realigned? Advice welcome

[ilv1004s]

various things to look at

bushings

steerin rack bushings

ball joints

end joints

control arm joints 

the list can go on