First off get the wheel off the ground. Grab it by the 9 and 3 positions and gently try to turn it. If you feel slight movement then you do need to change the inner tie rod. It isn't that hard and I was able to replace my wheel bearing, inner and outer tie rod and get an alignment in about 3 1/2 hours. The hardest part of changing the inner is acquiring the tool for it. Pep boys sells it and it is made by Lysle. $60 and it is worth the investment.
Steps:
1. Turn steering all the way to the opposite side you are working on. Makes it easier. Loosen the outer tie rod Jam nut.
2. Loosen the OTR Ball joint nut but do not remove. If there is a cotter pin take it off. If it is a lock nut loosen till the nylon lock insert is clear of the threads.
3. Use a pitman arm puller or similar tool to pop the tie rod loose then remove the nut and OTR.
4. Remove the clamps that hold the dust boot on and carefully slide off the boot.
5. Slide the Inner Tie Rod tool over the ITR and insert the proper crows foot. (1 1/4") MUST hold the rack at the flat to prevent damage to the steering gear pinion!!!
6. Reverse for assy. Look at book for torque specs.
Do it yourself and save the money good parts (Moog, TRW) are fairly inexpensive. Good luck!