Um, mk3 I think your thread is more on the rear axle bushings not the rear control arm bushings.
What we did was we had a 3/4 drive socket that fit the hole just right and we pressed the old bushing out in a press. You could get a pipe close to the outer diameter of the bushing and brace it up in a vise and it would likely work as well. Or you could cut the rubber out and then cut the metal out being sure to cut toward the most metal as you will have to cut into the outer cage some since it is rounded.
Install. I put in the vise and just rotated around a little bit at a time on the outsides. If it gets kinks a little you just do the side sticking out the most and even it back up. Really easy-did 4 this way.
If you are doing the rear axle bushing then using Dave-bugs tool is GREAT. Only way to go. You cut the rubber out again and then cut what is likely going to be plastic cage out (some were metal). Then use his tool. Well worth the money as the bushing is well oversized and needs to be aligned just right and forced just right or it won't go in. I didn't have to take the break likes nor the brackets off to get to them but it was a lot of tension on the brake lines to do this. Better just taking the brake lines off but then you need Vag Com to bleed the air from the ABS brake system.