Advice.

I bought an Acura TL 2005 with 165,000 miles. I’ve learned the car was maintained but it needs new control arms. Has anyone ever made their car last until 200000 or over? Also I was told not to flush the teams because it could leave things worse. Does that mean to just replace the filter and add new fluid. I wanna make this car last because I really love it and I can’t afford a newer one.