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Typed this before you edited
The inner tie rod end is just a rod that goes between the outer tie rod end and the steering rack.
One side of the rod has a ball joint which threads into the rack.
The other side is threaded to accept the outer tie rod end (this is the shaft that appears to be bent).
I've only had this replaced at a shop, but I watched them do it.
- The length between the rack and the outer tie rod end (where it sits on the inner end) is measured so that alignment can hopefully be retained.
- The outer tie rod end is removed.
- A special cylander that resembles an extremely deep impact socket is slipped over the inner tie rod end. It has a hex at the rack end (to turn the tie rod end out of the rack), and a slot for a 1/4" drive impact gun at the other end.
- The old tie rod is removed with this tool and the new one is installed.
- The outer tie rod end is reinstalled to the measured distance from the rack.
I'm not sure how this would be done without the special tool.
You may have to do an alignment afterwords.
The rod is bent and so it could be difficult to measure with any accuracy.