unless i'm mistaken... you shouldn't have inner tie rod ends... i'm 99% sure you have rack and pinion, which uses a rack, and outer tie rod ends... you can change them at home, though if you do, make sure you get an alignment the day you finish...
quite honestly, stay away from the cheap companies, i would go with MOOG, i've actually got a moog upper control arm/ball joint, showing up at my house today... they are more money, but much better parts...
when you change it, take the tie rod end off of the wheel, i would honestly pound the crap out of the bolt, to knock it back... down? through the hole... heat wouldn't be a bad idea either... once it's out, remove the tierod end from the tie rod, by unscrewing it... there will probably be a turnbuckle, remove as little of these parts as possible, (don't move the turn buckle) when you do remove it, count very carefully, how many turns it took to unscrew it, and make sure your new one goes in the exact same number of times, this will give you the best likely hood that your alignment is the same as it was, which is not too far off... then put the "bolt" on the end of the end, back up through the other part, and put the nut on
like this, remove only the red part, not the collar the red part goes into
if you turn that collar, it will change the alignment, and wear your tires out faster by either giving you toe in, or toe out