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To check it you can have someone turn the wheel back and forth with the car on the ground while you check for visible play. It is harder to tell on the inner due to the boot.
Here is how to change it.
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This looks like a difficult job to do in the driveway on jackstands.
The service place wanted to charge me $236.00 for the alignment - inner tie rod end- and labor------What do you advise--- I have never tried this and I am afraid i will not have room on the ground to do the work????