i replaced them myself, super easy, I recommend replacing both inner and outer, rent the inner tie rod tool from your local auto store, Advanced auto by me had one and it worked great.

 

Bringing it back again. I just did mine. One of the joints, whether the ball or socket failed, I don't know, hung limply with the outer rod end removed.
You will probably render the factory clamp on the rubber boot on the rack useless when taking it off. I used a large zip tie to replace the metal clamp on mine. The small spring steel clamp on the outside is reusable.