Before you attempt to replace it, make sure you are actually getting play on the inner ball joint by pulling and pushing on it with the rod in a few different positions (ie. after removing the outer tie rod from the knuckle).
if you are not planning to remove the rack for the tie rod replacement, you need to remove the inner tie rod with this tool:
http://www.bobstools.net/Store/LS45750.html
1. Just remove your outer tie rod, then break the band on the the inner tie rod boot and remove it from the rod, being careful not to damage the seal. It is best to tape the tie rod end threads with electrical tape before attempting to remove the inner boot over it. Before you remove the outer tie rod, count the number of turns made to remove it and write it down so you can re-install it using the same number later, otherwise your tow-in will be off.
2. Use a long flathead screwdriver and hammer to tap back the lock washer tabs on the inner tie rod flats where it connects to the rack. When you remove the inner boot and look at it closely, you will understand what I mean by the lock claw washer. This is a thin steel washer that is installed on the inner rod threads before it is screwed into the rack. Two protrusion tabs from the washer lock into the rack end, then after the tie rod is tightened, the outside ends of the large washer are bent over the tire rod flats to prevent the tie rod from unscrewing.
3. Then place the Lisle tie rod removal tool onto the inner tie rod flats and use a 1/2" socket driver with extension to remove the inner rod from the rack.
4. Getting a new tie rod back on and securing the claw lock washer is another story. There is NO room near the rack to get a standard tool in there to bend that washer down onto the new tie rod flats. You need to build a special tool or buy one. Otherwise, the rack must be removed. They refer to this I guess as an inner tie rod crimper:
http://www.toolsource.com/inner-crim...ourceid=nextag or this one:
http://www.handsontools.com/Specialt...563-16461.html
That's about $120 in specialty tools you will need there. If you do it yourself, you can always sell those tools on Ebay and recover $60-$80 for them. Otherwise shop around for someone that is capable of doing it without removing the rack.
Oh ya, you will also need a new claw washer which you will likely need to buy from the dealer. As well, you may want to replace the inner boot. You will definitely need a new steel band to secure the inner boot. Another alternative is a steel zip tie which would be easier to install in the tight space.
The tie rod itself can be had from Autozone I believe on special order for $60 or so (Beck-Arnley).
dave mc