I just got off the phone with the dealership, and the part numbers they gave me are the following:
1991 Legend 4dr = 52360-SP0-00
1994 Legend 4dr = 52360-SP0-J01
However, according to
http://www.acuraoemparts.com
91 - 95 LEGEND / 2DR = 52360-SP0-003
91 - 95 LEGEND / 4DR = 52360-SP0-J01
So according to that website, since the part numbers are the same for 91'-95', I should be okay, considering these control arms came from a 94 sedan and I have a 91 sedan, right?