Having said that, I remember that 20 years ago, those kinds of parts would need to be replaced after maybe 60-80k miles. However, everything seems to be better built now - my van has 214k on it, and no sign of needing replacements - same goes for all the cars I've bought and sold (20 or so) in the last 3 years.
Further on down the mileage line, virtually everything is wearing out. Rubber bushings in control arms. Rubber bushings in all your rear suspension points. There's rubber EVERYWHERE on cars, and it all wears out. Motor mounts, transmission mounts, shock mounts. Again, it'll still go down the road, but it won't drive like new. You might have a lot of slop in steering, slop in cornering. The car might pull one way or another under acceleration. It'll be louder, harsher, clunkier.
Going a little deeper, probably your tie rods and sway bar links are shot, as are the control arm bushings (which may or may not be integral with the entire control arm).