Balljoint recall.  Check with a dealership near you to see if they were replaced.  I had problems with my sway bar link and that did the same thing.  Take it to a local shop, most places around here check the problem for free.  Then do it yourself, or have them do it.

I haven't done the tie rod on our cars yet but I think you just pop it out of the hub assembly and then unscrew it.  You just hold the steering shaft in place and twist the tie rod.  This is something I'd think about taking to a shop, just because when you put it back in, you're looking at messing with your steering and alignment.  The tie rod (from what I can tell) is a half hour job.  So the shop won't kill you on labor.  I'd at least take it in and ask them what they think and how much.