First...what year is it?
These are important for not only controling your vehicle safely,but they
also have a direct effect on tire wear.
If you noticed the vehicle wandering back and forth, especially after
hitting a bump, and took it in to get the alignment checked, or were
having the tires replaced and the tech. did a courtesy check of your
componets....doesn't matter. If they are worn out, they need replaced.
I have had tie rod ends snap and it ain't fun....(no steering control !).
Since you have the time now, call around and compare the cost. The service
establishment should have given you an estimate (in writing)
of the projected cost.