The tire shop (the same one that cross-threaded my lugnut) told me my right outer tie rod was just starting to go bad months ago, but they said it wasn't of immediate concern so I postponed it. Since i'm not well versed in front end diagnosis I watched a youtube video, and based on that I ordered both outer tie rods. Then I watched a better video and decided I may not have driver side tie rod problems at all but I most definitely have a right INNER tie rod problem. It's kind of hard to diagnose the outer when the inner is bad, without a helper or without disconnecting it. Since i already bought the outer I might as well replace it with the inner.
Anyway do you need a special tool for inner tie rod on Previas? I haven't taken off the little access cover to a good look at it yet. I am going to take it to an alignment shop and have them diagnosis whatever else may be wrong, and then fix it all myself before getting an alignment.