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Well I've looked at my FSM and see where the inner ends are and how they function. They look like nylon. Quite frankly if the inner and outer rod ends are gone then I'd buy a new rack with outer ends rather than try to disassemble on the car and replace, especially if you are a DYI novice. There's also seals in there and maybe a bushing to be replaced as well. If there's that much wrong with the rack then more parts are soon to fail with the extra labor. I'll bet the shop quoted replacement of the entire rake. Look on-line for rake re-build/new venders.
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1995 Camry Wagon LE. 2.2 4cyl, 5S-FE, Auto, 187K
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