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On the toyotas, mostly I see inner tie rods bad. Could be either though ... or both.
The outer tie rods (tie rod ends) are easy to change. A 10 minute job even without air tools.
The inner tie rods are a little more tricky, but still not bad if you've got some nice pliers or a pipe wrench. You have to take the outer tie rod off, the take the boot off the rack housing (usually have to bust a clamp and replace it with zip ties), then use whatever tool you need to unscrew the inner tie rod from the rack.
Not that hard, there's just some cramped areas under there, and it might be awkward with the car on jack stands.
Just find out what you're up against for sure, then make a decision.
Good luck!
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'96 4cyl 5spd Camry
147k miles and running out of things to fix...
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